Control of constrained robot systems

... dynamic modeling of the robot and the constraint Flexibilities of the joints of constrained robot pose another challenge for the controller design The control of flexible joint robotic manipulators ... position/force control of a constrained robot with robust adaptive and neural network based impedance control Chapter is on the explicit force control of a constra...

Ngày tải lên: 16/09/2015, 17:12

... 10 Control of Continuous Linear Systems In summary, the objective of this book is to provide the reader with a sound understanding of the foundations of the modelling and control of linear continuous ... 349 Control of Continuous Linear Systems This page intentionally left blank Control of Continuous Linear Systems Kaddour Najim First published i...

Ngày tải lên: 01/01/2014, 20:12

... depends on the error term E(t) Conclusion This paper proposes a combination of the identification algorithm and the modal superposition method for feedback active control of incomplete measured systems ... original identification algorithm is the requirement of the knowledge of entire state vector x(t) Combination of the identificatio...

Ngày tải lên: 28/03/2014, 13:20

... original identification algorithm is the requirement of the knowledge of entire state vector x(t) Combination of the identification algorithm and the modal superposition method The incomplete measurement ... depends on the error term E(t) Conclusion This paper proposes a combination of the identification algorithm and the modal superpos...

Ngày tải lên: 28/03/2014, 13:20

... system Mechanical systems with ˇ this special structure are referred to as nonholonomic Caplygin systems [52] 316 A De Luca, G.Oriolo NONHOLONOMIC MECHANICAL SYSTEMS 7.8 Control of Nonholonomic Systems ... consequences on the design of feedback controllers for nonholonomic systems, as we shall see in Section 7.8 7.4 Classification of Nonholonomic Systems On the...

Ngày tải lên: 01/04/2014, 00:20

... Inc Canadair Division 18 00 Marcel Laurin St Laurent, Quebec Canada H4R 1K2 ISSN 017 0-8 643 ISBN -1 0 ISBN -1 3 3-5 4 0-2 507 1- 9 Springer Berlin Heidelberg New York 97 8-3 -5 4 0-2 507 1- 5 Springer Berlin Heidelberg ... 14 8 6.2 .1 Selection of Desired Impedances 14 8 6.2 .1. 1 Stability Analysis 14 9 6.2 .1. 2 Impedance-controlled Axis 15 0 6.2 .1. 3 Force-controlled...

Ngày tải lên: 10/08/2014, 01:22

... = Je q + Je q (2. 2.4) where J e is the m n Jacobian of the end-effector For a redundant manipulator, equations (2. 2.1), (2. 2 .2) and (2. 2.4) represent under-determined systems of equations J e ... (SPDM) of Canadarm -2 designed for the International Space Station While most non -redundant manipulators possess enough degrees -of- freedom (DOFs) to perform their main task(s),...

Ngày tải lên: 10/08/2014, 01:22

... 2.6 26 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution 1.5 0.5 -0 .5 -1 -1 .5 -1 .5 -1 -0 .5 0.5 1.5 2.5 Figure 2.6 Reachable workspace and desired trajectory for a 3- DOF planar ... inactive -2 0 q1 -4 0 q3 -6 0 -8 0 qmin (3) 0.2 0.4 0.6 0.8 Time (s) 1.2 1.4 1.6 1.8 Joint variables (Inequality constraint) 40 20 deg b) JLA active q2...

Ngày tải lên: 10/08/2014, 01:22

... by d k the set of distances of B i and T i to B j and T j , i.e 44 Collision Avoidance for a 7-DOF Redundant Manipulator Figure 3.3 (A-1) Body-Body collision (non-parallel and non-intersecting ... H i and H j of L i and L j (with H i and H j being the closest points of the two lines to the origin), then the dual representation of N ij is given as 48 Collision Avoidan...

Ngày tải lên: 10/08/2014, 01:22

... Simulation for a 7-DOF Redundant Manipulator W P = 0I 3 e W O = 10I 3 e Wv = I7 450 400 350 300 250 (c) 200 150 100 50 -5 0 0 .5 1 .5 time (s) -4 x 10 (d) -1 -2 -3 -4 0 .5 1 .5 time (s) Figure 3.12 ... 100 mm - - - W c = 0.01 , _ W c = -. - .- W c = 10 5 –4 , (collision occurred) ( 150 10 ) 140 130 120 Boundary of the object 110 (a) 100 90 80 70 60...

Ngày tải lên: 10/08/2014, 01:22

... 67 3.3 Kinematic Simulation for a 7-DOF Redundant Manipulator - - - k = 100 , _ k = , -. - .- k = 0.01 (obstacle’s radius = 70 mm and SOI = 100 mm) Critical Distance ... between position and force controlled subspaces, and no attempt is made to R.V Patel and F Shadpey: Contr of Redundant Robot Manipulators, LNCIS 3 16, pp 79–117, 2005 © Springer-Verlag B...

Ngày tải lên: 10/08/2014, 01:22

... 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 compliant motion control of redundant ... Hence, the closed- A hybrid position and force controller is proposed in [56] where the task space is divided into two orthogonal subspaces - position controlled...

Ngày tải lên: 10/08/2014, 01:22