Self Motion Control Of Kinematically Redundant Robot Manipulators
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Self Motion Control Of Kinematically Redundant Robot Manipulators
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Author : Omar Waleed Najm Maaroof
language : en
Publisher:
Release Date : 2012
Self Motion Control Of Kinematically Redundant Robot Manipulators written by Omar Waleed Najm Maaroof and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Manipulators (Mechanism) categories.
Redundancy in general provides space for optimization in robotics. Redundancy can be defined as sensor/actuator redundancy or kinematic redundancy. The redundancy considered in this thesis is the kinematic redundancy where the total degrees-of-freedom of the robot is more than the total degrees-of-freedom required for the task to be executed. This provides infinite number of solutions to perform the same task, thus, various subtasks can be carried out during the main-task execution. This work utilizes the property of self-motion for kinematically redundant robot manipulators by designing the general subtask controller that controls the joint motion in the null-space of the Jacobian matrix. The general subtask controller is implemented for various subtasks in this thesis. Minimizing the total joint motion, singularity avoidance, posture optimization for static impact force objectives, which include maximizing/minimizing the static impact force magnitude, and static and moving obstacle (point to point) collision avoidance are the subtasks considered in this thesis. New control architecture is developed to accomplish both the main-task and the previously mentioned subtasks. In this architecture, objective function for each subtask is formed. Then, the gradient of the objective function is used in the subtask controller to execute subtask objective while tracking a given end-effector trajectory. The tracking of the end-effector is called main-task. The SCHUNK LWA4-Arm robot arm with seven degrees-of-freedom is developed first in SolidWorks® as a computer-aided-design (CAD) model. Then, the CAD model is converted to MATLAB® Simulink model using SimMechanics CAD translator to be used in the simulation tests of the controller. Kinematics and dynamics equations of the robot are derived to be used in the controllers. Simulation test results are presented for the kinematically redundant robot manipulator operating in 3D space carrying out the main-task and the selected subtasks for this study. The simulation test results indicate that the developed controller's performance is successful for all the main-task and subtask objectives.
Control Of Redundant Robot Manipulators
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Author : Rajni V. Patel
language : en
Publisher: Springer Science & Business Media
Release Date : 2005-05-04
Control Of Redundant Robot Manipulators written by Rajni V. Patel and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-05-04 with Technology & Engineering categories.
This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
Robot Manipulator Redundancy Resolution
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Author : Yunong Zhang
language : en
Publisher: John Wiley & Sons
Release Date : 2017-09-11
Robot Manipulator Redundancy Resolution written by Yunong Zhang and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-11 with Technology & Engineering categories.
Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Biologically Inspired Motion Control For Kinematic Redundancy Resolution And Self Sensing Exploitation For Energy Conservation In Electromagnetic Devices
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Author : Vahid Babakeshizadeh
language : en
Publisher:
Release Date : 2013
Biologically Inspired Motion Control For Kinematic Redundancy Resolution And Self Sensing Exploitation For Energy Conservation In Electromagnetic Devices written by Vahid Babakeshizadeh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
This thesis investigates particular topics in advanced motion control of two distinct mechanical systems: human-like motion control of redundant robot manipulators and advanced sensing and control for energy-efficient operation of electromagnetic devices.
Force Control And Collision Avoidance Strategies For Kinematically Redundant Manipulators
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Author : Farshid Shadpey
language : en
Publisher:
Release Date : 1997
Force Control And Collision Avoidance Strategies For Kinematically Redundant Manipulators written by Farshid Shadpey and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with categories.
Repetitive Motion Planning And Control Of Redundant Robot Manipulators
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Author : Yunong Zhang
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-07-08
Repetitive Motion Planning And Control Of Redundant Robot Manipulators written by Yunong Zhang and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-07-08 with Technology & Engineering categories.
Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
The Control Of Kinematically Redundant Robot Manipulators
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Author : Ian David Walker
language : en
Publisher:
Release Date : 1985
The Control Of Kinematically Redundant Robot Manipulators written by Ian David Walker and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1985 with Manipulators (Mechanism) categories.
Latest Advances In Robot Kinematics
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Author : Jadran Lenarcic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-05-19
Latest Advances In Robot Kinematics written by Jadran Lenarcic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-05-19 with Technology & Engineering categories.
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.
Nonlinear Control Techniques For Robot Manipulators Nonlinear Control Of Mechatronic Systems With Applications In Robotics
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Author : Nitendra Nath
language : en
Publisher: VDM Publishing
Release Date : 2008-04
Nonlinear Control Techniques For Robot Manipulators Nonlinear Control Of Mechatronic Systems With Applications In Robotics written by Nitendra Nath and has been published by VDM Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04 with Manipulators (Mechanism) categories.
This book describes the design and implementation of control strategies for the following topics: i) Whole-arm-grasping control for redundant robot manipulators, ii) Neural network grasping controller for continuum robots, and iii) Coordination control for haptic and teleoperator systems. A kinematic control, for whole-arm grasping of objects using redundant robot manipulators, which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is presented along with experimental results. An approach to whole-arm grasping control for hyper-redundant robots or continuum robots, is also illustrated. The grasping controller, developed in two stages; high level path planning for the grasping objective, and a low level joint controller using a neural network feedforward component to compensate for dynamic uncertainties, is presented along with some experimental results. Additionally, two controllers, developed for nonlinear haptic and teleoperator systems, are presented. The controllers ensure the tracking and coordination between the systems. Experimental results are included.
Advances In Robot Kinematics 2016
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Author : Jadran Lenarčič
language : en
Publisher: Springer
Release Date : 2017-07-26
Advances In Robot Kinematics 2016 written by Jadran Lenarčič and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-26 with Technology & Engineering categories.
This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.