Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 4 pptx

... 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 and dual parts of ... Avoidance for a 7-DOF Redundant Manipulator represent the arm and its environment. Colbaugh et al . [ 14] addressed this problem for a planar manipulator. The obstacles were re...

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 - 54 0-2 507 1-5 Springer Berlin Heidelberg New York Library of Congress Control Number: 20059232 94 This ... control of redun- dant manipulators has been based on planar 3-DOF manipulators. The PREFACE PREFACE PREFACE PREFACE PREFACE PREFA...

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... of the end-effector is given by the matrix . The orient ation error is calculated as follows [42 ]: , where and are the axis and angle of rotation which transform the end-effector frame ... results when both main sub- tasks are active; (d )-( f) : The isotropic design of REDIESTRO reduces the risk of approaching a singular configuration over a greater part of th...

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... positive 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...

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...

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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 ... selection procedure (i.e. ) as follows: (2 .4. 4) where W 0 and are user-defined constants representing the coefficient for the weight and width of the buffer region r...

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

... (s) (c) 4. 3 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 ... Schemes for Compliant and Forc e Contr ol of Redundant Manipulators 109 Figure 4. 15 Object avoidance without self-motion stabilization 4. 3 .4. 2 Inner-Loop Design...

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... of REDIESTRO, a 7-DOF experimental robot. 120 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 Generator (TG) The ... s+d k D K D G Figure 4. 19 Adaptive Hybrid Impedance Control: Effect of imprecise force measurement 4. 4 Conclusions In this chapter, the problem of compliant motion and for...

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... also provides some additional features:  Optimized closed-form representations of the inertia matrix, Coriolis, and gravity vectors;  Effect of external forces;  Surface and force-sensor models. Figure ... [10] for online 3-D graphics rendering of the movement of the arm. 5 .4. 2 Description of the sources of performance degradation In this section by using different simu...

Ngày tải lên: 10/08/2014, 01:22