Balancing of linkages and robot manipulators

... 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),...

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... 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...

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... 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...

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... 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...

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... 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...

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... 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...

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... of Redundant Manipulators 60 1.5 40 final 20 0.5 -2 0 initial -4 0 -6 0 -0 .5 -0 .5 0.5 1.5 -8 0 0.2 0.4 (a) 0.6 0 .8 (b) -3 x 10 100 80 60 40 20 0 -2 0 -1 -4 0 -2 -6 0 -3 0.5 (c) 1.5 0.5 1.5 (d) a) Robot ... error (mm) 98 Contact Force and Compliant Motion Control -6 5 -7 0 -7 5 -8 0 -8 5 (c) -9 0 -9 5 -1 00 -1 05...

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... the AHIC scheme to the 3-D workspace of REDIESTRO, a 7-DOF experimental robot CHAPTER AHIC FOR A 7-DOF REDUNDANT MANIPULATOR Augmented Hybrid Impedance Control for a 7-DOF Redundant Manipulator ... are implemented R.V Patel and F Shadpey: Contr of Redundant Robot Manipulators, LNCIS 316, pp 1 19 145, 2005 © Springer-Verlag Berlin Heidelberg 2005 120 AHIC for a 7-DOF Re...

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... 0.4 −0.5 −0.5 0.2 0 1.5 10 Joint error (deg) 15 −1 −1 10 Joint error (deg) 15 −1.5 10 15 10 15 Joint error (deg) 10 10 20 5 10 0 −5 −5 10 10 10 15 Joint error (deg) 10 10 15 −20 Joint error ... are different sources of parameter and model mismatch Some of the major sources of performance degradation of a model-based controller are listed below: 136 AHIC for a 7-DOF R...

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... Preparation and Conduct of the Experiments 0.02 Position error (m) −0.02 −0.04 −0.06 −0.08 −0.1 -. - An ideal system of mass-spring-dashpot hardware experiment −0.12 −0.14 110 110 .5 111 111 .5 112 112 .5 ... model-based controller R.V Patel and F Shadpey: Contr of Redundant Robot Manipulators, LNCIS 316, pp 147–177, 2005 © Springer-Verlag Berlin Heidelberg 2005 1...

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... force-controlled directions are M p = 257 and M f = 5.7 respectively The values of the desired damping in the position and the force-controlled directions are B p = 1100 and B f = 477 ; and the ... performance of the controller and its robustness with respect to kinematic errors As an example, the design of the peg and holes (cone-shaped peg heads and chamfered type openin...

Ngày tải lên: 10/08/2014, 01:22