Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 11 doc

... Engineering 11 51 Richmond Street North London, Ontario Canada N6A 5B9 Dr. F. Shadpey Bombardier Inc. Canadair Division 18 00 Marcel Laurin St. Laurent, Quebec Canada H4R 1K2 ISSN 017 0-8 643 ISBN -1 0 3-5 4 0-2 507 1- 9 ... 3-DOF Planar Arm . . . 94 CHAPTER 1INTRODUCTION The problem of position control of robot manipulators was addressed in the 19 70’s to develop c...

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... by (2. 2.4) whereis the Jacobian of the end-effector. For a redundant manipulator, equations (2. 2.1), (2. 2 .2) and (2. 2.4) represent under-deter- mined systems of equations. can be viewed as a ... -dimen- sional null space of the Jacobian . The definition of the null space of implies that (2. 3 .25 ) Pre-multiplying both sides of (2. 3 .23 ) by yields the optimali...

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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 31 6, pp. 35 78, 2005. â Springer-Verlag Berlin Heidelberg ... 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 -8 0 -7 5 -7 0 -6 5 -6 0 -5 5 -5 0 -4 5 -4 0 Time ( s ) Joint variable q3 Optimization method P=4 Opt...

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... cases of body-body (C-1) and base- base (C-3) collisions can occur: ã (C-1) If , and the projection of either or on is between and , then we have a body-body collision. As in the case of near -parallel ... b j h j t j  P i c P j c H i H j n ij H i H j H i C i H j C j P j c C j B j T j H j P i c C i P j c L i p j c 42 3 Collision Avoidance for a 7-DOF Redundant Manipulator F...

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... results for positi on and orientation tracking: ( a) position error (m); (b) orientation error (rad) 0 0 .5 1 1 .5 2 -6 -4 -2 0 2 4 6 x 10 - 3 (a) time (s) 0 0 .5 1 1 .5 2 -0 .6 -0 .4 -0 .2 0 0.2 0.4 0.6 0.8 (b) time ... 0 .5 1 1 .5 2 2 .5 3 3 .5 4 0 0 . 05 0.1 0 . 15 0.2 0 . 25 0.3 0 . 35 0.4 0 . 45 () time (s) (b) Figure 3.11 Sphere-Sphere Collision...

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... The robot and its associated control hardware and software ã The robot animation software: Multi -Robot Simulation (MRS) system [9], [10], [77]. In order to distinguish between the performance of ... –    = d c R O SOI (c) 66 3 Collision Avoidance for a 7-DOF Redundant Manipulator 80 4 Contact Force and Compliant Motion Control follow a commanded force trajectory....

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... act as a mass- spring-dashpot system with desired inertia, damping, and stiffness in each dimension of the position-controlled subspace of the main and additional tasks. In the force-controlled ... impedance controller which overcomes this problem will be proposed in next section. 4.3 Schemes for Compliant and Force Control of Redundant Manipulators The problem of complian...

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... inac- tive; (e) robot motion - JLA active 0 0.5 1 1.5 2 - 105 - 100 -9 5 -9 0 -8 5 -8 0 -7 5 -7 0 -6 5 (c) time (s) -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 init ia l time ... 1 -8 0 -6 0 -4 0 -2 0 0 20 40 60 0 0.5 1 1.5 2 - 100 -8 0 -6 0 -4 0 -2 0 0 20 40 60 0 0.5 1 1.5 2 -6 0...

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... implemented. 5Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator R.V. Patel and F. Shadpey: Contr. of Redundant Robot Manipulators, LNCIS 316, pp. 1 191 45, 2005. â Springer-Verlag Berlin Heidelberg ... 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...

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... deal with this problem. 0 5 10 15 −20 10 0 10 20 0 5 10 15 10 −5 0 5 10 0 5 10 15 10 −5 0 5 10 0 5 10 15 −1.5 −1 −0.5 0 0.5 1 1.5 0 5 10 15 0 0.2 0.4 0.6 0.8 1 0 5 10 15 −1 −0.5 0 0.5 1 Jo in t ... which runs the Multi -Robot Simu- lation (MRS) graphical software [77], [9], [10] for online 3-D graphics rendering of the movement of the arm. 5.4.2 Description of t...

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... approximately given by: 110 110 .5 111 111 .5 112 112 .5 113 113 .5 114 114 .5 115 −0.14 −0.12 −0.1 −0.08 −0.06 −0.04 −0.02 0 0.02 time (s) Pos itio n erro r (m ) An ideal system ofmass-spring-dashpot __ hardware ... model-based controller. CHAPTER 6 EXPERIMENTAL RESULTS FOR CONTACT FORCE AND COM- PLIANT MOTION CONTROL 6Experimental Results for Contact Force and Complian...

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... value and standard deviation () for the time interval between 15 to 80 seconds show the capability of the force -control- ler in regulation of the interaction forces even in the presence of unmodeled dynamics ... performance of the controller and its robustness with respect to kinematic e rrors. As an example, the design of the peg and holes (cone-shaped peg heads and cha...

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... Link6 Link7 X0.00048 0.1155 -0 .00110.3071 00.0919 0.06345 Y-0.160 7-0 .003 6-0 .1176 -0 .040 8-0 .132 6-0 .0343 0 Z-0.118 6-0 .0389 -0 .1539 0.0699 0.1507 -0 .0882 -0 .0034 Ta ble A -4 Link inertia tensor (Kg ... J = J i E i D i >@ J f E f D f >@ K x i K Y i K Z i >@ K x f K Y f K Z f >@ Kt K · tK ·· t Z : K Robot t Kt R.V. P...

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... seven-degree -of- fr eedom redundant robot with spherical wrist”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2 8-3 6, Philadelphia, PA, 1988. [20] J. Duffy, “The fallacy of modern hybrid control ... 1990. [65] H. Seraji and R. Colbaugh, “Sin gularity-robustness and task prioriti- zation in configuration control of redundant robots”, 29th IEEE Conf. on Decisio...

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... Wheeled Mobile Robots 216 p. 2001 [ 1-8 523 3-4 1 4-2 ] Vol. 261: Talebi, H.A.; Patel, R.V.; Khorasani, K. Control of Flexible-link Manipulators Using Neural Networks 168 p. 2001 [ 1-8 523 3-4 0 9-6 ] Vol. 260: ... Bifurcations, and Control 312 p. 2002 [ 3-5 4 0-4 256 0-9 ] Vol. 272: Yang, T. Impulsive Control Theory 363 p. 2001 [ 3-5 4 0-4 2296-X] Vol. 271...

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