Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 13 pps
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 13 pps
... of the controller’s cutoff frequency in a force-controlled direction, we achieved an acceptable level of force tracking. The experi- ment shows that with 20N desired force, an interaction force ... evalu- ate the performance of the proposed compliant motion and force control scheme via hardware demonstrations using REDIESTRO, a seven-dof experimental robot arm. Two strawman tasks...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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...
Ngày tải lên: 10/08/2014, 01:22
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 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) robo...
Ngày tải lên: 10/08/2014, 01:22
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 9 ppt
... 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