Control of Redundant Robot Manipulators - R V Patel and F Shadpey Part 15 docx
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 15 docx
... D.M.; Zergeroglu, E.;
Behal, A.
Nonlinear Control of 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 ... Analysis, and Design of Hybrid Systems
516 p. 2002 [ 3-5 4 0-4 381 2-2 ]
Vol. 278: Chunling D. and Lihua X. (Eds)
H
∞
Control and Filtering of
Two-d...
Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 10 docx
...
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 ... each of the 6 DOF’s of the {C} frame. Figure 5.3 shows the
desired impedance in position-controlled and force-controlled axes respec-
tively. I
n
order to verify
the
opera...
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
... 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 (deg);
(d) ... C–
4.3
Schemes for
Compliant
and Forc
e
Contr
ol
of Redundant
Manipulators
99
Figure 4.9 Static Obstacle Collision Avoidance: (a) robot motion - SOCA
of...
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