Filters








1,879 Hits in 6.2 sec

Redundant Actuation of Parallel Manipulators [chapter]

Andreas Mueller
2008 Parallel Manipulators, towards New Applications  
On the basis of a preceding path planing and inverse kinematics solution of redundantly actuated PKM, the inverse dynamics is not unique and can take into account various goals.  ...  Resolution of actuation redundancy Inverse dynamics of redundantly full-actuated PKM The first step in navigating PKM consists in task/motion planning and a subsequent solution of the inverse kinematics  ...  In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine  ... 
doi:10.5772/5427 fatcat:4v6akdhsn5babaleizocrfdpgq

On the control of biologically and kinematically redundant manipulators

C.C.A.M. Gielen, B.M. van Bolhuis, M. Theeuwen
1995 Human Movement Science  
One of the key problems in motor control concerns the apparent redundancy of muscles and joints. This biological and kinematic redundancy has been an object of study since long.  ...  , and neural network studies (see, e.g., Flanders et al.The problem of coordination of kinematically redundant manipulators and solving the ill-posed computational problems related to motor redun dancy  ...  In robotics the functional requirements on an algorithm for the control of kinematically redundant manipulators are often the same as for biologi cal limbs.  ... 
doi:10.1016/0167-9457(95)00025-x fatcat:hjoimsakkfddldt3qmqk3kfv6i

Control of cooperating mobile manipulators

T.G. Sugar, V. Kumar
2002 IEEE Transactions on Robotics and Automation  
We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible  ...  The robots can cooperatively transport objects and march in a tightly controlled formation, while also having the capability to navigate autonomously.  ...  Our system of cooperating manipulators consists of two or three mobile manipulators.  ... 
doi:10.1109/70.988979 fatcat:wpnyhz226vco5kaomcoq4tidme

Stiffness analysis of overconstrained parallel manipulators

Anatol Pashkevich, Damien Chablat, Philippe Wenger
2009 Mechanism and Machine Theory  
In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which  ...  Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator.  ...  and then aggregates the partial solutions in a total one.  ... 
doi:10.1016/j.mechmachtheory.2008.05.017 fatcat:snsl3ybj7zesbdaaxgxfpyzade

Performance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility

Fugui Xie, Xin-Jun Liu, Jinsong Wang
2011 International Journal of Advanced Robotic Systems  
Performance evaluation is one of the most important issues in the field of parallel kinematic manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been studied intensively.  ...  To determine the inverse solutions of the PKMs with kinematic redundancy, an optimization strategy is presented, and the rationality of this method is demonstrated.  ...  Generally, the inverse kinematic solution is unique for a specific working mode of a parallel manipulator.  ... 
doi:10.5772/50904 fatcat:fvqa4yr6vfeijkp4dr2dkjz7fa

Towards a mobile haptic interface for bimanual manipulations

Angelika Peer, Yuta Komoguchi, Martin Buss
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The design of this mobile haptic interface is based on a modular system consisting of two components: two haptic interfaces and a mobile platform.  ...  This work mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform.  ...  The authors appreciate the help and scientific input of Dr. M. Ueberle and A. Mörtl. Special thanks go to J. Gradl, H. Kubick, T. Lowitz, and T.  ... 
doi:10.1109/iros.2007.4399008 dblp:conf/iros/PeerKB07 fatcat:o3emc6zwdjgfxadjkskv662zkq

Enhanced stiffness modeling of serial manipulators with passive joints [chapter]

Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
2010 Advances in Robot Manipulators  
The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems.  ...  It is assumed that the manipulator elasticity is described by a multidimensional lumped-parameter model, which consists of a chain of rigid bodies connected by 6-dof virtual springs.  ...  Acknowledgements The work presented in this paper was partially funded by the Region "Pays de la Loire", France and by the EU commission (project NEXT).  ... 
doi:10.5772/9539 fatcat:b7lz7eehtvej3ot45foolnl43u

Continuum Arm Robotic Manipulator: A Review

Puneet Kumar Singh, C. Murali Krishna
2014 Universal Journal of Mechanical Engineering  
some control issues.  ...  In this paper survey of literature related to continuum arm of robotic manipulator based on biological inspiration is carried out.  ...  soft manipulators, however, will require solutions to many untouched and challenging design, control and planning problems.  ... 
doi:10.13189/ujme.2014.020603 fatcat:qxas2lcch5btnlqntccadflgvy

Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator

Xiaoyong Wu
2019 Symmetry  
Performance comparison between the redundant manipulator and another two non-redundant 3-PPR planar parallel manipulators, one with a Δ-shape symmetrical structure and the other with U-shape symmetrical  ...  Based on the evaluation of dexterity, velocity, and stiffness performance, the optimum region is achieved.  ...  Acknowledgments: The author acknowledge Shaoping Bai, Aalborg University, Denmark, for the discussion and comments. Conflicts of Interest: The author declare no conflict of interest.  ... 
doi:10.3390/sym11070908 fatcat:pmxxgwskzjb67ksf2rgbwziu4e

Stiffness analysis of 3-d.o.f. overconstrained translational parallel manipulators

Anatoly Pashkevich, Damien Chablat, Philippe Wenger
2008 2008 IEEE International Conference on Robotics and Automation  
In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for  ...  the overconstrained architectures and for the singular manipulator postures.  ...  and then aggregates the partial solutions in a total one.  ... 
doi:10.1109/robot.2008.4543424 dblp:conf/icra/PashkevichCW08 fatcat:x5grpzgk5fbgxivsxn5emneygy

Least-Squares-Based Reaction Control of Space Manipulators

Silvio Cocuzza, Isacco Pretto, Stefano Debei
2012 Journal of Guidance Control and Dynamics  
A., and Huang, C. H., “Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators,” JEEE Transactions on Systems, Man, and Cybernetics, Vol. 13, No. 3, 1983, pp. 245-250.  ...  ., Control for Kinematically Redundant Manipulators,” /EEE Trans- actions on Systems, Man, and Cybernetics, Part A: Humans, Vol. 30, No. 3, 2000, pp. 233-237. doi: 10.1 109/3468.844350 Papadopoulos, E.  ... 
doi:10.2514/1.45874 fatcat:bp4rrvdk3nfglmuy5y54onrl5a

Obstacle Avoidance for Redundant Manipulators as Control Problem [chapter]

Leon lajpah, Tadej Petri
2012 Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization  
Obstacle Avoidance for Redundant Manipulators as Control Problem, Serial and Parallel Robot Manipulators -Kinematics, Dynamics, Control and Optimization, Dr.  ...  It turns out for redundant systems that only the so-called "dynamically consistent" generalized inverseJ defined as J = H −1 J T (JH −1 J T ) −1 (36) is the unique generalized inverse that decouples the  ... 
doi:10.5772/32651 fatcat:jqjgcfvrebhsfa3ur6wy5mh6su

A New Admittance-Type Haptic Interface for Bimanual Manipulations

A. Peer, M. Buss
2008 IEEE/ASME transactions on mechatronics  
The design of this mobile haptic interface is based on a modular system consisting of two components: two admittance-type haptic interfaces and a mobile platform.  ...  This paper mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform.  ...  ACKNOWLEDGMENT The authors appreciate the help and scientific input of Dr. M. Ueberle, A. Mörtl, and Y.  ... 
doi:10.1109/tmech.2008.2001690 fatcat:p36bvrxywzbhvibliuueq7353q

Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control

A. Muller
2005 IEEE Transactions on robotics  
Results are given for a planar 4RRR manipulator and a spatial heptapod.  ...  Preload can be controlled in order to prevent backlash during the manipulator motion. Such control is based on the inverse dynamics.  ...  Actuator redundancy can also improve the transmission properties. As such it increases the homogeneity of the force transmission and the manipulator stiffness (active stiffness) [36] , [37] .  ... 
doi:10.1109/tro.2004.842341 fatcat:klnyy4autzda5ccdbdos6i7mey

Kinematic Singularities of Robot Manipulators [chapter]

Peter Donelan
2010 Advances in Robot Manipulators  
forces on the links, loss of stiffness or compliance, and breakdown of control algorithms.  ...  In the case k > n, the kinematics are said to be redundant and one may seek a pseudo-inverse.  ...  We have not yet reached this stage but a careful study of the contents will start one on the exciting journey that could lead to many inventions and successful solutions.  ... 
doi:10.5772/9548 fatcat:un6d3sajebbj3ouv52pd4savti
« Previous Showing results 1 — 15 out of 1,879 results