Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 7 pptx

... 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

... control of redun- dant manipulators has been based on planar 3-DOF manipulators. The PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE PREFACE To Roshni and Krishna (RVP) To Lida, Rouzbeh and Avesta ... the accuracy and stability of force control schemes. A large number of techniques have been developed and used for posi- tion control such as Proportion-Derivative (P...

Ngày tải lên: 10/08/2014, 01:22

... 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 of four straight ... 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 represented b...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... a 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 frames {...

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...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... 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 cluttered env...

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

... acceleration trajec- tory. (ii) The formulation of this algorithm is similar to a non- adaptive version of the approach of Slotine and Li [81]. / x / z q · r q ·· r  sq · q · r –= W Hqq ·· r Cq q · q · r Gq ... Contr ol of Redundant Manipulators 99 Figure 4.9 Static Obstacle Collision Avoidance: (a) robot motion - SOCA of f; ( b) robot motion -...

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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 ... (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 th...

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... 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 ... additional features:  Optimized closed-form representations of the inertia matrix, Coriolis, and gravity vectors;  Effect of external forces;  Surf...

Ngày tải lên: 10/08/2014, 01:22