Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 2 ppsx

... The second derivative of X is given by (2. 2.4) whereis the Jacobian of the end-effector. For a redundant manipulator, equations (2. 2.1), (2. 2 .2) and (2. 2.4) represent under-deter- mined systems of equations. ... kinematics are given by (2. 2 .2) where is related to the “twist” (vector of linear and angular veloci- ties) of the end-effector by: (2. 2.3) where is a matr...

Ngày tải lên: 10/08/2014, 01:22

... Quebec Canada H 4R 1K2 ISSN 017 0-8 643 ISBN-10 3-5 4 0 -2 507 1-9 Springer Berlin Heidelberg New York ISBN-13 97 8-3 -5 4 0 -2 507 1-5 Springer Berlin Heidelberg New York Library of Congress Control Number: 20 05 923 294 This ... applications required manipulators to work in cluttered and time-varying environments. While most non -redundant manipulators possess enou...

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... used in a force and compliant motion control scheme for redundant manipulators. However, most of the redundancy resolution schemes at the acceleration level suffer from uncontrolled self-motion. ... secondary task as minimization of a desired cost func- tion. Figure 2. 5 Feasibility of different trajectories for a 2- DOF manipulator 2. 4.1.3 Approach I: Using Inequality Con...

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... 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 ... 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 primal...

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... the end-effector frame to the desired orientation. The calculation of the angular velocity error is straight- forward: (3.3.6) 3.3 .2. 3Simulation Results The performance of redundancy resolution ... 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 2 0 0 .2 (e) Position error (mm) (f) Orientation error (rad) time...

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... 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 motion of the arm, and the environ- ment can ... given for a redun- dant planar manipulator. In the remainder of this chapter, algorithms proposed for force and compliant motion control of redundant manipulators are prese...

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... definite 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 ... 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 bandwidth...

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... Schemes for Compliant and Forc e Contr ol of Redundant Manipulators 101 Figure 4.10 Moving Obstacle Collision Avoidance: (a) robot motion - MOCA off; (b) robot motion - MOCA on; (c) joint variables ... Schemes for Compliant and Forc e Contr ol of Redundant Manipulators 105 Figure 4.13 Force-controlled additional task (4.3. 12) -0 .5 0 0.5 1 1.5 2 - 0....

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... Hybrid Impedance Control for a 7-DOF Redundant Manipulator R. V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 316, pp. 119–145, 20 05. © Springer-Verlag Berlin Heidelberg 20 05 4.4 ... (RDM) software [78]. 5.3 Testing and Verification In the simulation developed for the purpose of verifying the integration of the controller, the inverse dyna...

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... additional features:  Optimized closed-form representations of the inertia matrix, Coriolis, and gravity vectors;  Effect of external forces;  Surface and force-sensor models. Figure 5.7 Simulation ... per- formed for the force-controlled direction with the following values: Figure 5.6 compares the force history of the AHIC after contacting the sur- B 2 d K 2 d K e B 2...

Ngày tải lên: 10/08/2014, 01:22