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Force control of redundant robots in unstructured environment

B. Nemec, L. Zlajpah
2002 IEEE transactions on industrial electronics (1982. Print)  
In the paper a method for force control of redundant robots in unstructured environment is proposed. We assume that the obstacles are not known in advance.  ...  The proposed method is verified with the simulation and with the experimental results of 4.D.O.F planar redundant robot In the past the Moore-Penrose pseudoinverse [10] has been widely used to resolve  ...  Because the impact was not the issue, we started the experiment with the robot in contact with the wall. First, we have tested the proposed control law using the simulation.  ... 
doi:10.1109/41.982267 fatcat:grsgsifnnngllmuabxs6d7yfsm

Maxwell Model Based Null Space Compliance Control in the Task-priority Framework for Redundant Manipulators

Le Fu, Jie Zhao
2020 IEEE Access  
Moreover, a force sensorless admittance control scheme using radial basis neural networks (NNs) for robotic manipulators to interact with unknown environments in the presence of actuator saturation has  ...  In this paper, we focus on the problem of ensuring the main execution of robot end-effector task and simultaneously realizing a null space compliance control to deal with those physical contracts in unstructured  ... 
doi:10.1109/access.2020.2975125 fatcat:kanofbgmvfb5rgkj5lpaqdc4fa

Efficient Algorithms for Robots with Human-Like Structures and Interactive Haptic Simulation [chapter]

O. Khatib, O. Brock, K.-S. Chang, D. Ruspini, L. Sentis, F. Conti, S. Viji
2002 Advances in Robot Kinematics  
A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant.  ...  In addition to the new capabilities they bring to the physical robot, these models and algorithms and more generally the body of developments in robotics is having a significant impact on the virtual world  ...  Acknowledgments The financial support of Honda Motor Company and NSF (grants IRI-9320017) is gratefully acknowledged.  ... 
doi:10.1007/978-94-017-0657-5_10 fatcat:jh4qs6utyjcw3p3euhtvfuurhm

Combined Torque and Velocity Control of a Redundant Robot System [chapter]

Damir Omrcen, Leon Zlajpah, Bojan Nemec
2006 Mobile Robotics, Moving Intelligence  
Using the Lagrangean formulation, we can express the dynamic model of the complete system in the form motion in the task space and in the null space can be controlled independently. c τ is the control  ...  The goal of our research is to develop appropriate control algorithm that enables compliant motion of a redundant mobile manipulator in unstructured environments.  ...  This book covers many aspects of the exciting research in mobile robotics. It deals with different aspects of the control problem, especially also under uncertainty and faults.  ... 
doi:10.5772/4714 fatcat:rbrprpadwvgt7fh2cre4ctdmua

Obstacle Avoidance for Redundant Manipulators as Control Problem [chapter]

Leon lajpah, Tadej Petri
2012 Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization  
Planar 4DOF manipulator tracking a path in an unstructured environment with three obstacles using velocity-based control (sampled every 1s) more compliant null-space behavior Fig. 17.  ...  The efficiency of the proposed control algorithms is illustrated by simulations of highly redundant planar manipulator moving in an unstructured and time-varying environment and by experiments on a real  ... 
doi:10.5772/32651 fatcat:jqjgcfvrebhsfa3ur6wy5mh6su


2004 International Journal of Humanoid Robotics  
Using these models, we present a whole-body control framework that decouples the interaction between the task and postural objectives and compensates for the dynamics in their respective spaces.  ...  In this paper we complete the picture of task descriptions and whole-body dynamic control by establishing models of the dynamic behavior of secondary task objectives within the posture space.  ...  Acknowledgments The contributions of François Conti, Diego Ruspini, Kyong-Sok Chang, Sriram Viji, Elena Pacchierotti, Irena Paschenko and Charity Lu to the SAI simulation environment and the financial  ... 
doi:10.1142/s0219843604000058 fatcat:lvqvrqhdwbhppnpog6b7bh42ju

Object impedance control using a closed-chain task definition

Muhammad E. Abdallah, Charles W. Wampler, Robert Platt
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
Humanoid robots are intended to interact with unstructured environments and to perform diverse applications.  ...  This results in an integrated null space that includes not only the redundant DOFs of each manipulator independantly, but also the free DOFs of the object shared across the manipulators.  ...  INTRODUCTION The deployment of humanoid robots to manufacturing sites, especially assembly line work, requires robots to work in unstructured environments in which they physically interact with tools,  ... 
doi:10.1109/ichr.2010.5686287 dblp:conf/humanoids/AbdallahWP10 fatcat:mczv5qpymncwte73xudbhjgoo4

A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces

Jon Woolfrey, Wenjie Lu, Dikai Liu
2019 Journal of Intelligent and Robotic Systems  
Using null space control, the redundant task is designed to minimize the torque required to oppose the external force, and reduce the dynamic torque.  ...  In this paper, a control method is developed for minimizing joint torque on a redundant manipulator where an external force acts on the end-effector.  ...  Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.  ... 
doi:10.1007/s10846-018-0964-8 fatcat:dcljxu5ujnhnpdycf5zd5bk7wq

Development of a high-performance haptic telemanipulation system with dissimilar kinematics

Bartlomiej Stanczyk, Angelika Peer, Martin Buss
2006 Advanced Robotics  
As a practical benchmark an assembly experiment in 6DoF for the case of a negligible time delay was performed.  ...  Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed.  ...  Redundancy Resolution and Augmented Task Space Formulation One of the serious problems in pseudo-inverse based control described in Sec.  ... 
doi:10.1163/156855306778792461 fatcat:wqkxhbgn7fhbxd4amtt6mbjcda

Human-Centered Robotics and Interactive Haptic Simulation

Oussama Khatib, Oliver Brock, Kyong-Sok Chang, Diego Ruspini, Luis Sentis, Sriram Viji
2004 The international journal of robotics research  
Haptics is one area where the computational requirement associated with the resolution in real time of the dynamics and contact forces of the virtual environment is particularly challenging.  ...  A new field of robotics is emerging. Robots are today moving towards applications beyond the structured environment of a manufacturing plant.  ...  Acknowledgments The financial support of Honda and NSF (grants IRI-9320017) is gratefully acknowledged.  ... 
doi:10.1177/0278364904041325 fatcat:ozbsmqhxq5e57lnqxdjoctekji

Safe Motion Planning for Human-Robot Interaction: Design and Experiments [chapter]

Dana Kulic, Elizabeth Croft
2006 Mobile Robots: towards New Applications  
., 2000) , or trying to minimize the impact force if contact occurs (Lew, Jou et al., 2000) . A key problem for all of these control methods is to identify when safety is threatened.  ...  In unstructured environments, mechanical design alone is not adequate to ensure safe and human friendly interaction. Additional safety measures, utilizing system control and planning, are necessary.  ...  A second issue is the formulation of the forces applied to the robot in the operational space.  ... 
doi:10.5772/4689 fatcat:r3c4fph76fcfney2thcntqd37m

Joint Space Control via Deep Reinforcement Learning [article]

Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
2021 arXiv   pre-print
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics.  ...  Results are shown both in simulation and on a real robot via sim-to-real transfer of the learned policy.  ...  Like the pre-built controllers mentioned above, however, such solutions cannot operate in unstructured environments in which collisions between the arm and environment require joint-level reasoning.  ... 
arXiv:2011.06332v2 fatcat:xwsuaiggrvawjh6snni7ukpdg4

Using intentional contact to achieve tasks in tight environments

J. Rogelio Guadarrama-Olvera, Emmanuel Dean, Gordon Cheng
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper, a hierarchy policy based on tactile feedback is proposed to let a robot interact with its environment while performing a set of tasks.  ...  It allows simplifying the formulation of safety tasks such as collision avoidance between the robot, the environment and surrounding objects.  ...  Interaction with humans in unstructured environments, require robots to have a reliable way to perceive the surrounding objects to prevent collisions.  ... 
doi:10.1109/icra.2017.7989120 dblp:conf/icra/Guadarrama-Olvera17 fatcat:s2ngqitmvjelnckxocnexqcj2m

Direct visual servoing framework based on optimal control for redundant joint structures

Jorge Pomares, Carlos Alberto Jara, Javier Pérez, Fernando Torres
2015 International Journal of Precision Engineering and Manufacturing  
The proposed approach allows the development of new direct visual controllers for any mechanical joint system with redundancy.  ...  The proposed general method employs optimal control to obtain the desired behaviour in the joint space based on an indicated cost function which determines how the control effort is distributed over the  ...  ACKNOWLEDGEMENT This work was funded by the Spanish Ministry of Economy, the European FEDER funds and the Valencia Regional Government, through the research projects DPI2012-32390 and PROMETEO/2013/085  ... 
doi:10.1007/s12541-015-0035-z fatcat:alnmeelsnvbotcwnxyi3dt3fqa

Exploitation of Environment Support Contacts for Manipulation Effort Reduction of a Robot Arm

Cheng Fang, Navvab Kashiri, Giuseppe F. Rigano, Arash Ajoudani, Nikos G. Tsagarakis
2019 2019 International Conference on Robotics and Automation (ICRA)  
The motion control was then composed in the null space of the contact force control [26] .  ...  However, in a complex and unstructured environment, the determination of the mechanical properties of the objects in contact with the robot and the external forces/torques at its internal bodies contacts  ... 
doi:10.1109/icra.2019.8794119 dblp:conf/icra/FangKRAT19 fatcat:bsud3qwhifdllltj2htokrfgri
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