Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 14 pdf
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 1 pptx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2 ppsx
... 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...
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 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 4 pptx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 5 pptx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 6 pps
... 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....
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 7 pptx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 8 potx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 9 ppt
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 10 docx
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 11 doc
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 12 pdf
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 13 pps
... 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
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i
>@
K
x
f
K
Y
f
K
Z
f
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Kt
K
·
tK
··
t
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:
K
Robot
t
Kt
R.V. P...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 14 pdf
... 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...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 15 docx
... 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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