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...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... 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...

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... 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...

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... 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...

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... 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...

Ngày tải lên: 10/08/2014, 01:22

... 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...

Ngày tải lên: 10/08/2014, 01:22

... 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 (...

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... 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...

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... 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...

Ngày tải lên: 10/08/2014, 01:22