... modelling andcontrolof snake robots as steps toward developingsnake robots capable of such operations.A survey of the various mathematical models and motion patterns forsnake robots found ... development of model-based controllers for snake robots. Some controllers are developed for po-sition controlof a single link or a small selection of snake robot links.Moreover, controllers ... Type of joints, 2) number of degrees of freedom (DOF) and 3) with or without passive caster wheels. Most snake robots consist of linksconnected by revolute joints with one or two DOF. On some robots,...
... the positionand force control of redundant robot manipulators from both theoretical and experimental points of view. Although positionand force controlofrobot manipulators hasbeen an area of ... Results for a 3-DOF Planar Arm . . . 94 CHAPTER 1INTRODUCTIONThe problem ofpositioncontrolofrobot manipulators was addressed inthe 1970’s to develop control schemes capable of controlling a ... thepoint of view of experimental implementation. Most of the experimentalwork done to illustrate algorithms for force andpositioncontrolof redun-dant manipulators has been based on planar 3-DOF...
... kinematic control loop for Carte-sian controlof a redundant manipulator (Figure 2.3). As we can see in Fig-ure 2.3, the states of the system are and . However, because of thenature of Cartesian control ... matrix, and being the and Jacobian matrices of the main and additional tasks respectively.The velocity kinematics of the extended task are given by:(2.3.9)where and are the time derivatives of ... than the dimension of the joint space n. Let usdenote the positionand orientation of the end-effector along the axes of interest in a fixed frame by the vector X , and the joint positions bythevector...
... Tasks212.4.1.1 Definition of Terms and Feasibility AnalysisThe reachable workspace of a robot manipulator is defined by the geo-metrical locus of the positionand orientation (pose) of the end-effector,, ... majorareas: redundancy resolution, robotand environment modeling, and dis-tance calculation need to be investigated. Obviously, the accuracy withwhich a robot arm and its environment are modeled ... Static and Moving Obstacle Collision AvoidanceIn this section, an outline of an algorithm for the 2-D workspace of aplanar arm is given. The extension of the algorithm to a 3-D workspace and simulation...
... andof the cylinder onto the line and denote the projected points by and . Con-versely, we project the points and of the cylinder onto the line and denote the projected points by and ... passes through the points and of and (with and being the closest points of the two lines to the origin), then the dual rep-resentation of is given asbib'itiandb'ibi– RiRj+bit'itiandt'iti– ... Collision Avoidance 39the foot of the common normal of the two lines and on . To avoidambiguity for the choice of the top and bottom of the cylinder, we canalways choose and in such away that the...
... unit vector along the Z axis of joint i ,is the position of the end-effector, andis the positionof the origin of the ith framewith respect to frame {1} . The positionand the velocity errors are ... pose (position and orientation) of theend-effector, defined by the position vector and the rotationmatrix of the transformation matrix . The pose is thusdimensionally non-homogenous and needs ... Simulation for a 7-DOF Redundant Manipulator53(3.3.1)where ;,,, and are the twist angle, joint angle, offset and link length, respectively. The Denavit-Hartenberg parameters of REDI-ESTRO are...
... The robotand its associated control hardware and softwareã The robot animation software: Multi -Robot Simulation (MRS)system [9], [10], [77].In order to distinguish between the performance of ... specify the desired location and orientation of theend-effector, and the system automatically takes care of the details of motion control, configuration selection, and generalized collision ... link and either thecenter of the object for a spherical object or the projection of the criticalpoint on the axis of the cylinder in the case of a cylindrical object. and are the radius and...
... staticcomponent of a robot s output impedance. Impedance control goes further and attempts to modulate the dynamics of the robot s interactive behavior.The main idea of impedance control is to ... inertia, damping, and stiffness in eachdimension of the position- controlled subspace of the main and additionaltasks. In the force-controlled subspace, a desired inertia and damping havebeen ... interaction forces and amanipulator’s position instead of controlling positionand force indepen-dently. This approach is limited by the assumption of small deformations of the environment,...
... This control law does not cancel the robot dynamics. However, it ensures asymptotic, or by proper choice of , and , exponential tracking of the ACT trajectory at the same rate asthat of exact ... accelerations and not controlling the self-motion of the arm. This is the major shortcoming of the AHIC scheme pro-posed in Section 4.3.2. In this section by modifying both the inner and outer control ... for Compliant and Force Control of Redundant Manipulators99Figure 4.9 Static Obstacle Collision Avoidance: (a) robot motion - SOCA of f; (b) robot motion - SOCA on; (c) position error...
... Map-based PositioningPart II: Systems and Methods for MobileRobot Positioning5. Reduction of Dead-reckoning Errors6. Active Beacon Navigation Systems7. Landmark Navigation8. Map-based positioning9. ... information. Mobilerobot navigation is a very diverse area, and auseful comparison of different approaches is difficult because of the lack of a commonly acceptedtest standards and procedures. ... or PI fashion+ 24-bit position monitoring.At the University of Michigan's Mobile Robotics Lab, the HCTL 1100 has been tested and usedin many different mobilerobotcontrol interfaces. The...
... or PI fashion+ 24-bit position monitoring.At the University of Michigan's Mobile Robotics Lab, the HCTL 1100 has been tested and usedin many different mobilerobotcontrol interfaces. The ... more landmarks must be "in view" to allow position estimation. Landmarkpositioning has the advantage that the position errors are bounded, but detection of externallandmarks and real-time ... in price and have become a very attractive solution for mobile robot navigation. Absolute Position Measurements:3. Active beacons — This methods computes the absolute positionof the robot from...