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 31 6, pp. 35 –78, 2005. © Springer-Verlag Berlin ... level, or self-collision avoidance, is often not achievable. Kinematic redundancy has been recognized as a major charac- teristic for operation of a robot in a clutt...

Ngày tải lên: 10/08/2014, 01:22

... inner loop which is the subject of Section 4 .3. 4 . 4 .3. 3 .3 Simulation Results for a 3- DOF Planar Arm The setup for the constrained compliant motion control is shown in Fig- ure 4.6. A general ... adaptive algorithm of Slotine and Li [81] is used to design the controller in order to ensure asymptotic tracking of the ACT trajectory. The procedure is as follows: First, a Car...

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... Quebec Canada H 4R 1K2 ISSN 017 0-8 6 43 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: 20059 232 94 This ... applications required manipulators to work in cluttered and time-varying environments. While most non -redundant manipulators possess en...

Ngày tải lên: 10/08/2014, 01:22

... 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. Considerin...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... (s) W v 20I 33  = W v W v J 60 3 Collision Avoidance for a 7-DOF Redundant Manipulator 3. 3 Kinemati c Si mul ati on for a 7-DOF Redun dant Manipulator 63 element of th...

Ngày tải lên: 10/08/2014, 01:22

... 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 presented. Section 4 .3. 1 addresses ... 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 a...

Ngày tải lên: 10/08/2014, 01:22

... 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 of operation. ... 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 equation is onl...

Ngày tải lên: 10/08/2014, 01:22

... Hybrid Impedance Control for a 7-DOF Redundant Manipulator R. V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 31 6, pp. 119–145, 2005. © Springer-Verlag Berlin Heidelberg ... consider the effects of imprecise force measurements. It is obvious that error in force measure- ments directly affects the tracking performance in the force controlled sub-...

Ngày tải lên: 10/08/2014, 01:22

... 15 −1 −0.5 0 0.5 1 Jo in t 4e rro r (d eg ) Joint 3 error (deg)Joint 2 error (deg) Joint 5 error (deg) Joint 6 error (deg) Joint 7 error (deg) f ˜ fric 1 .3 f fric K p  10 K v  6 .3= == 140 5 AHIC for a 7-DOF Redundant ... also provides some additional features:  Optimized closed-form representations of the inertia matrix, Coriolis, and gravity vectors;  Effect of ext...

Ngày tải lên: 10/08/2014, 01:22