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Inertial Properties in Robotic Manipulation: An Object-Level Framework

Oussama Khatib
1995 The international journal of robotics research  
The second is a unique dynamically consistent relationship between end-e ector forces and joint torques.  ...  Here we introduce a unifying framework for the analysis and control of robotic systems beginning with an analysis of inertial properties based on two models that independently describe the mass and inertial  ...  Many thanks to Harlyn Baker, Alan Bowling, Roy Featherstone, Leo Guibas, Robert Holmberg, Sean Quinlan, and David Williams for their comments and help during the preparation of the manuscript.  ... 
doi:10.1177/027836499501400103 fatcat:tmgzlp5yk5e2hfy6xyvr23j6ni

Inverse dynamics of the HALF parallel manipulator with revolute actuators

Stefan Staicu, Xin-Jun Liu, Jinsong Wang
2006 Nonlinear dynamics  
Inverse dynamic solution is an essential part of these controllers.  ...  In the present work, the inverse dynamics model of a 3-PRR (prismatic-revolute-revolute) planar parallel manipulator based on the natural orthogonal complement (NOC) method is developed.  ...  Using the Jacobian matrix of constraints, equation (3) , is a convenient way to insure independence of constraints.  ... 
doi:10.1007/s11071-006-9138-5 fatcat:urmkzwpwzvcalls7ps53s6tf4u

A Parallel Probabilistic Load Flow Method Considering Nodal Correlations

Jun Liu, Xudong Hao, Peifen Cheng, Wanliang Fang, Shuanbao Niu
2016 Energies  
A novel parallel cumulants-based PLF method considering nodal correlations is proposed in this paper, which is able to deal with the correlations among all system nodes, and avoid the Jacobian matrix inversion  ...  With the introduction of more and more random factors in power systems, probabilistic load flow (PLF) has become one of the most important tasks for power system planning and operation.  ...  Conflicts of Interest: The authors declare no conflict of interest. Energies 2016, 9, 1041  ... 
doi:10.3390/en9121041 fatcat:bnalslbgr5ejncbogrgy3cnllu

A Fuzzy Backstepping Control of a Mobile Manipulator with Torque Limits Avoidance

Mohamed Boukattaya, Tarak Damak, Mohamed Jallouli
1970 ECTI Transactions on Computer and Information Technology  
A special attention is given to the joints torque limits avoidance where a new weighted pseudo-inverse of the Jacobian that accounts for both inertia and torque limits is proposed to solve problems inherent  ...  First, the dynamic model of the mobile manipulator in feasible motion space is given.  ...  The general solution for the kinematic redundancy resolution may be written as:ż = J #Ẋ + Nż (7) where J # = J T (JJ T ) −1 is the pseudo-inverse of the Jacobian matrix J and N is the null space of J defined  ... 
doi:10.37936/ecti-cit.201152.54244 fatcat:l43td3ogfvfehh2morwhspckxe

Cooperation control of multiple manipulators with passive joints

Yun-Hui Liu, Yangsheng Xu, M. Bergerman
1999 IEEE Transactions on Robotics and Automation  
Jacobian matrix with respect to passive joints is not singular.  ...  We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not fewer active joints than the degrees of freedom of the object; 2) the  ...  ACKNOWLEDGMENT The authors would like to thank C. Lee, Carnegie Mellon University, for his help in the experiments.  ... 
doi:10.1109/70.760347 fatcat:es24rxgmergwjetgfwxlq7gusi

Dynamics computation of link mechanisms employing COG Jacobian

Takashi Sonoda, Kazuo Ishii, Daigoro Isobe
2008 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics  
The loaded forces to COG can be obtained by employing Newton's and Euler's equations of motion. By the scheme, we can calculate the inverse dynamics regardless of open-and closed-link mechanisms.  ...  We show the dynamics computation employing Jacobian that relates the center of gravity (COG) to joints of link mechanisms, in this paper.  ...  Computations for inverse dynamics employing COG Jacobian consist of following three steps: 1. compute q , q & and q& & using (2), (3) and (7) Moreover, in the case that the end-effecters of a mechanism  ... 
doi:10.1109/aim.2008.4601708 fatcat:dbpbhy7uozfafmpn5ujxgtuutq

Review article: Performance measures of parallel kinematics manipulators

Abdur Rosyid, Bashar El-Khasawneh, Anas Alazzam
2020 Mechanical Sciences  
After being classified, the indices are discussed in terms of some important aspects including definition, physical meaning soundness, dependency, consistency, scope of applicability, and computation cost  ...  For the sake of completeness, some key mathematical expressions of the indices are provided.  ...  This research was partially supported by the Khalifa University Internal Research Fund. Review statement.  ... 
doi:10.5194/ms-11-49-2020 fatcat:467yuc4yfjau7h67upnpr3xjl4

Singularity Analysis of Planar Cable-Driven Parallel Robots

Xiumin Diao, Ou Ma, Qi Lu
2008 2008 IEEE Conference on Robotics, Automation and Mechatronics  
A Jacobian singularity occurs when the Jacobian matrix of a cabledriven parallel robot loses its full rank.  ...  Based on rank analysis of Jacobian matrix, a group of Jacobian singularities is reported with mathematical proof.  ...  This project was supported in part by US Air Force contract #FA9200-06-D-0020 awarded to the Physical Science Laboratory (PSL) of NMSU and a mini-grant from the Vice President Research Office of NMSU.  ... 
doi:10.1109/ramech.2008.4681507 dblp:conf/ram/DiaoML08 fatcat:gsdvvcfqjrbg7e6a7pm2pzlace

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

José Cazalilla, Marina Vallés, Ángel Valera, Vicente Mata, Miguel Díaz-Rodríguez
2016 Mechanics based design of structures and machines  
The implemented hybrid force/position control considers, as a reference, the normal force on the mobile platform, which is measured by means of a load cell installed on the platform.  ...  A robot interacting with the environment requires that the end effector position is tracked and that the forces of contact are kept below certain reference values.  ...  ACKNOWLEDGEMENTS The authors wish to thank the Plan Nacional de I+D, Comisión Interministerial de Ciencia y Tecnología (FEDER-CICYT) for the partial funding of this study under the projects DPI2011-28507  ... 
doi:10.1080/15397734.2015.1030679 fatcat:7cnyvqgunnhedoe2mlanz3wkny

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

M. Díaz-Rodríguez, J. A. Carretero, R. Bautista-Quintero
2016 Mechanical Sciences  
The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity.  ...  The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains.  ...  Conflict of interests -the authors declare that the research was conducted in the absence of any commercial, financial, or personal relationships that could be construed as a potential conflict of interests  ... 
doi:10.5194/ms-7-9-2016 fatcat:i7w4fipgmne3ngohm5skwii4wu

Electromechanical Transients Simulation on a Multicomputer via the VDHN-Maclaurin Method

F. Morales, H. Rudnick, A. Cipriano
2001 IEEE Power Engineering Review  
of the nonupdated Jacobian matrix.  ...  Theoretical and numerical results show that a successful implementation of this method can be better reached when the Jacobian matrix is decomposed as a block diagonal matrix plus a matrix with off diagonal  ...  of the nonupdated Jacobian matrix.  ... 
doi:10.1109/mper.2001.4311439 fatcat:zn7inhoh7bgtrkgatupn2rvhxm

Electromechanical transients simulation on a multicomputer via the VDHN-Maclaurin method

F. Morales, H. Rudnick, A. Cipriano
2001 IEEE Transactions on Power Systems  
of the nonupdated Jacobian matrix.  ...  Theoretical and numerical results show that a successful implementation of this method can be better reached when the Jacobian matrix is decomposed as a block diagonal matrix plus a matrix with off diagonal  ...  of the nonupdated Jacobian matrix.  ... 
doi:10.1109/59.932277 fatcat:g3xgdpbzwzfw7katonq3gwy34m

A five-bar finger mechanism involving redundant actuators: analysis and its applications

Byung-Ju Yi, Sang-Rok Oh, Il Hong Suh
1999 IEEE Transactions on Robotics and Automation  
It is shown that judicial choice of the location of one redundant actuator greatly enhances the load handling capacity of the system, when compared to those of minimum actuation and more than two redundant  ...  Specifically, the motion frequency of the system is modulated by employing inertial and the spring-like impedance properties created by internal loading.  ...  Dynamic Modeling for Five-Bar Finger Mechanism In this section, we introduce a dynamic model of the fivebar finger mechanism consisting of two open kinematic chains.  ... 
doi:10.1109/70.817665 fatcat:pyetmgblg5fotmmigmnxujlqb4

A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: an application to sawing task

Hee-Joo Yeo, II Hong Suh, Byung-Ju Yi, Sang-Rok Oh
1999 IEEE Transactions on Robotics and Automation  
The two-arm system under our hand consists of a four degree-of-freedom (DOF) SCARA robot and a five DOF PT200V robot.  ...  of the two arms to reflect the nature of the position-controlled industrial manipulator.  ...  inertial load and gravity loads, referenced to the independent input set, are obtained from the open-chain dynamics via a virtual work-based transfer method employing and denote the efforts of the independent  ... 
doi:10.1109/70.744609 fatcat:flouw4ud3rcbhmw6vlkgde2ome

Dynamics of parallel manipulators with hybrid complex limbs — Modular modeling and parallel computing

Andreas Müller
2022 Mechanism and Machine Theory  
This serves as inverse dynamics solution. 𝜑 t -left-hand side of the taskspace formulation of EOM for the PKM  ...  FC 𝜆 of limb 𝑙 when disconnected from the platform 𝜎 (𝜆,𝑙) -entries of the fundamental cycle matrix 𝑚 𝜆,𝑙 -number of generically independent loop constraints of FC 𝛬 𝜆(𝑙) of limb 𝑙 𝜼 (𝑙)  ...  The principle of virtual power finally yields the dynamic EOM in task space velocity coordinates 𝐌 accounts for EE-loads and all other loads.  ... 
doi:10.1016/j.mechmachtheory.2021.104549 fatcat:pdmwrmp5xffndllieo3k25ee2e
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