Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 1 pptx
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 1 pptx
... Quebec
Canada H 4R 1K2
ISSN 017 0-8 643
ISBN -1 0 3-5 4 0-2 507 1- 9 Springer Berlin Heidelberg New York
ISBN -1 3 97 8-3 -5 4 0-2 507 1- 5 Springer Berlin Heidelberg New York
Library of Congress Control Number: 2005923294
This ... control of redun-
dant manipulators has been based on planar 3-DOF manipulators. The
PREFACE
PREFACE
PREFACE
PREFACE
PREFACE
PREFACE...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 4 pptx
... another
opening. More-
over, the arm used in their experiment, the Robotics Research Corporation
7-DOF arm (RRC), is modeled as a series of four straight lines connecting
joints one, three, and five. ... the
moment of with respect to a self-understood point O , namely,
(3.2.5)
with p being the vector directed from O to an arbitrary point P of .
Moreover, e and m are called the prim...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 5 pptx
... complexity
of the numerical
implementation of the SVD algorithm for a 7-DOF arm may not be accept-
able for real-time control, bounds for the singular values of can be
0 0.5 1 1.5 2
0
0.5
0 0.5 1 1.5 ... coordinate frame
to each link with its z axis along the axis of rotation. Frame {1} is the work-
space fixed frame and frame {8} is the end-effector frame. Two consecu-
tive fr...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 7 pptx
... inertia matrix, h is the vector of centrifugal and Coriolis
forces, f is the vector of frictional forces, and G is the vector of gravitational
forces. The last term on the right-hand side of the ...
and
ori-
entations of the end-effector from their equilibrium values in a global Car-
tesian coordinate frame; is the real-valued nonsingular stiffness
matrix; and is the band...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2 ppsx
... analysis and a trade-off study are performed using a realistic model of
the arm and its hardware accessories. Potential sources of problems are
identified. These are categorized into two different groups: ... Chapter 4
for the 2D workspace of a 3-DOF planar arm to the 3D workspace of a 7-
DOF arm. New issues such as orientation and torque control are discussed.
Considering...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 3 pot
... geometric primitives to
3Collision Avoidance for a 7-DOF Redundant
Manipulator
R. V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 316 , pp. 35–78, 2005.
© Springer-Verlag Berlin ... active and
-
1. 5
-
1
-
0.5 0 0.5 1 1.5 2 2.5
-
1. 5
-1
-
0.5
0
0.5
1
1.5
26 2 Redundant Manipulators: Kinematic Analysis and Redund...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 6 pps
... information from the end-effec-
tor subsystem. Simulation and experimental results are given for a redun-
dant planar manipulator.
In the remainder of this chapter, algorithms proposed for force and
compliant ... configuration to a workstation running a graphics visualiza-
tion of the arm (MRS). MRS serves as a virtual environment; the graphics
model of the robot mirrors the exact...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 8 potx
... position error (m).
-0 .5 0 0.5 1 1.5 2
-
0.5
0
0.5
1
1.5
-0 .5 0 0.5 1 1.5 2
-
0.5
0
0.5
1
1.5
0 0.5 1 1.5 2
-8 0
-6 0
-4 0
-2 0
0
20
40
60
0 0.5 1 1.5 2
-5
-4
-3
-2
-1
0
1
2
3
4
5
x 10
-4
(b)
time ... Schemes for
Compliant
and Forc
e
Contr
ol
of Redundant
Manipulators
10 5
Figure 4 .13 Force-controlled additional task
(...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 9 ppt
... the 3-D workspace of REDIESTRO, a 7-DOF experimental
robot.
12 0 5 AHIC for a 7-DOF Redundant Manipulator
Figure 5 .1 Simplified block diagram of the AHIC controller
5.2 .1 Task Planner and Trajectory ... Manipulator
R. V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 316 , pp. 11 9 14 5, 2005.
© Springer-Verlag Berlin Heidelberg 2005
4.4
Con...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 10 docx
... improves tracking. However, there
is a limit to the accuracy level of identification for different manipulators.
K
p
10 K
v
6.3==
f
˜
fric
1. 3f
fric
=
0 2 4 6
14 5
14 0
13 5
13 0
12 5
12 0
11 5
11 0
10 5
10 0
0 ... closed-form representations of the inertia matrix,
Coriolis, and gravity vectors;
Effect of external forces;
Surface and force-sensor models.
F...
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