Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 5 pptx

... 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 the workspace. However, ... 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 red...

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 50 7 1-9 Springer Berlin Heidelberg New York ISBN-13 97 8-3 -5 4 0-2 50 7 1 -5 Springer Berlin Heidelberg New York Library of Congress Control Number: 20 059 23294 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

... 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 ... not permit an “elbow” to back into another opening. More- over, the arm used in their experiment, the Robotics Research Corporation 7-DOF arm (RRC), is modeled as a series...

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

... 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, 20 05. © 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 an...

Ngày tải lên: 10/08/2014, 01:22

... 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...

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 ... inac- tive; (e) robot motion - JLA active 0 0 .5 1 1 .5 2 - 1 05 - 100 -9 5 -9 0 -8 5...

Ngày tải lên: 10/08/2014, 01:22

... the 3-D workspace 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 ... (RDM) software [78]. 5. 3 Testing and Verification In the simulation developed for the purpose of verifying the integration of the controller, the inverse dynamics and...

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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 ... in each of the 6 DOF’s of the {C} frame. Figure 5. 3 shows the desired impedance in position-controlled and force-controlled axes respec- tively. I n order to verify t...

Ngày tải lên: 10/08/2014, 01:22