Local Performance Optimization for a Class of Redundant Eight-degree-of-freedom Manipulators PDF Download
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Author: Robert L. Williams (II.)
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 28
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Author: Robert L. Williams (II.)
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 28
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Book Description
Author: National Aeronautics and Space Adm Nasa
Publisher:
ISBN: 9781729052396
Category :
Languages : en
Pages : 26
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Book Description
Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities. Williams, Robert L., II Langley Research Center RTOP 586-02-11...
Author:
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ISBN:
Category : Aeronautics
Languages : en
Pages : 1028
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Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Author:
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ISBN:
Category : Aeronautics
Languages : en
Pages : 182
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Author:
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ISBN:
Category : Government publications
Languages : en
Pages :
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Author:
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ISBN:
Category :
Languages : en
Pages : 180
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Author: Norman S. Nise
Publisher: John Wiley & Sons
ISBN: 1119721407
Category : Technology & Engineering
Languages : en
Pages : 800
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Highly regarded for its accessibility and focus on practical applications, Control Systems Engineering offers students a comprehensive introduction to the design and analysis of feedback systems that support modern technology. Going beyond theory and abstract mathematics to translate key concepts into physical control systems design, this text presents real-world case studies, challenging chapter questions, and detailed explanations with an emphasis on computer aided design. Abundant illustrations facilitate comprehension, with over 800 photos, diagrams, graphs, and tables designed to help students visualize complex concepts. Multiple experiment formats demonstrate essential principles through hypothetical scenarios, simulations, and interactive virtual models, while Cyber Exploration Laboratory Experiments allow students to interface with actual hardware through National Instruments' myDAQ for real-world systems testing. This emphasis on practical applications has made it the most widely adopted text for core courses in mechanical, electrical, aerospace, biomedical, and chemical engineering. Now in its eighth edition, this top-selling text continues to offer in-depth exploration of up-to-date engineering practices.
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ISBN:
Category : Hot laboratories (Radioactive substances)
Languages : en
Pages : 532
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Author:
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ISBN:
Category : Government publications
Languages : en
Pages : 948
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Author:
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ISBN:
Category : Technology & Engineering
Languages : en
Pages : 644
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