Optimal Kinematic Design of Redundant and Hyper-redundant Manipulators for Constrained Workspaces PDF Download
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Author: Joseph T. Wunderlich
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 288
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Author: Joseph T. Wunderlich
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 288
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Book Description
Author: Mahdi Fallahinejad Ghajari
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Author: Yunong Zhang
Publisher: John Wiley & Sons
ISBN: 1119381436
Category : Technology & Engineering
Languages : en
Pages : 320
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Book Description
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.
Author: Darius John Foster
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Robotic manipulators have for years been used in place of humans where tasks are too dangerous, arduous or repetitive. Thanks to their extra degrees-of-freedom hyper- redundant manipulators offer an increased ability to move within physically constrained spaces; useful for inspection and maintenance operations in hard-to- access environments. However, being comprised of many links joined end-to-end, they usually exhibit complex behaviour, and as a result are difficult to model and implement in the real-world. Indeed, very few examples have been successfully deployed. This thesis considers the kinematics, dynamics, and control of these hyper- redundant manipulators. A form of inverse kinematics based on a Bezier curve was developed. The method reduced the complexity of the problem and removed the need to use Jacobian matrices. It compared well to other inverse kinematics methods, and also proved to be implementable on a real-world test-rig. The standard approach to controlling hyper-redundant manipulators imposes constraints on the mechanical design of hyper-redundant manipulators. Proportional- integral-derivative control necessitates the use of highly geared joints, and usually exacerbate problems with backlash. This thesis investigated the application of nonlinear controllers to hyper-redundant manipulators. Sliding mode control was shown to be superior, particularly in response to gravitational loads. Chattering was successfully suppressed via incorporation of a modified error-dependent switching gain - the control effort was reduced by 95%. These ideas were validated in preliminary tests on a real-world test-rig.
Author: Yunong Zhang
Publisher: Springer Science & Business Media
ISBN: 3642375189
Category : Technology & Engineering
Languages : en
Pages : 201
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Book Description
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.
Author: Paolo Tommasino
Publisher: Springer
ISBN: 9811303533
Category : Technology & Engineering
Languages : en
Pages : 115
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Book Description
This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a “Task-space Separation Principle,” a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.
Author: Rajni V. Patel
Publisher: Springer Science & Business Media
ISBN: 9783540250715
Category : Technology & Engineering
Languages : en
Pages : 228
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Book Description
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.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 26
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Book Description
This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.
Author: Joel Wakeman Burdick
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 258
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Author: Hak Yi
Publisher:
ISBN:
Category :
Languages : en
Pages : 104
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Book Description
This dissertation discusses an implementation of a design, control and motion planning for a novel extendable modular redundant robotic manipulator in space constraints, which robots may encounter for completing required tasks in small and constrained environment. The design intent is to facilitate the movement of the proposed robotic manipulator in constrained environments, such as rubble piles. The proposed robotic manipulator with multi Degree of Freedom (m-DOF) links is capable of elongating by 25% of its nominal length. In this context, a design optimization problem with multiple objectives is also considered. In order to identify the benefits of the proposed design strategy, the reachable workspace of the proposed manipulator is compared with that of the Jet Propulsion Laboratory (JPL) serpentine robot. The simulation results show that the proposed manipulator has a relatively efficient reachable workspace, needed in constrained environments. The singularity and manipulability of the designed manipulator are investigated. In this study, we investigate the number of links that produces the optimal design architecture of the proposed robotic manipulator. The total number of links decided by a design optimization can be useful distinction in practice. Also, we have considered a novel robust bio-inspired Sliding Mode Control (SMC) to achieve favorable tracking performance for a class of robotic manipulators with uncertainties. To eliminate the chattering problem of the conventional sliding mode control, we apply the Brain Emotional Learning Based Intelligent Control (BELBIC) to adaptively adjust the control input law in sliding mode control. The on-line computed parameters achieve favorable system robustness in process of parameter uncertainties and external disturbances. The simulation results demonstrate that our control strategy is effective in tracking high speed trajectories with less chattering, as compared to the conventional sliding mode control. The learning process of BLS is shown to enhance the performance of a new robust controller. Lastly, we consider the potential field methodology to generate a desired trajectory in small and constrained environments. Also, Obstacle Collision Avoidance (OCA) is applied to obtain an inverse kinematic solution of a redundant robotic manipulator. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/148298
