Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 8 potx

... 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 - 0.5 0...

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

... 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 envir...

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 of...

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

... 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

... 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

... 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- spaces of the main and ... 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 Trajector...

Ngày tải lên: 10/08/2014, 01:22

... 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 ... at the velocity level. However, the model-based part of the control- ler (inner-loop) is much more complicated than the computed torque algorithm. The former requires trac...

Ngày tải lên: 10/08/2014, 01:22