Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 12 pdf
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 12 pdf
... ensure that the reference error (error between the target tra-
jectory
generated by th
e AHIC cont
roller and tool
frame trajectory)
con-
verges to zero. Therefore, in order for the robot to act ... low-
pass filters. Each succeeding filter has a cutoff frequency that is 1/4 of that
of the preceding filter. For the JR3 sensor with a sample rate of 8 kHz, the
cutoff frequency of...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 14 pdf
... Multiple -Robot Simulation and Vizualiza-
tion, M.E.Sc. Thesis, University of Western Ontario, London,
Ontario, 2000.
[10] I.J. Bryson and R. V. Patel, “A modular software architecture for
robotic ... con-
trol of manipulators , Proc. IFAC 12th World Congress, Sydney,
Australia,1993.
[81] J.J. Slotine and W. Li, “On the Adaptive Control of Robot Manipu-
lators”, Int. Jour...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 1 pptx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2 ppsx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 3 pot
... 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 enviro...
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 ...
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...
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, ...
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 th...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 6 pps
... 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...
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...
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
105
Figure 4.13 Force-controlled additional task
(4.3 .12)
-0 .5 0 0.5 1 1.5 2
-
0.5
0
0.5
1
1.5
0 0.2 0.4 0.6 0.8 1
-8 0
-6 0
-4 0
-2 0
0
20
40
60
0 ...
Contr
ol
of Redundant
Manipulators
99
Figure 4.9 Static Obstacle Collision Avoidance: (a) robot motion - SOCA
of
f; (
b)
robot...