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Redundant Actuation of Parallel Manipulators
[chapter]
2008
Parallel Manipulators, towards New Applications
Preserved Fulltext
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
1995
Human Movement Science
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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
2002
IEEE Transactions on Robotics and Automation
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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
2009
Mechanism and Machine Theory
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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
2011
International Journal of Advanced Robotic Systems
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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
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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]
2010
Advances in Robot Manipulators
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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
2014
Universal Journal of Mechanical Engineering
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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
2019
Symmetry
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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
2008
2008 IEEE International Conference on Robotics and Automation
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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
2012
Journal of Guidance Control and Dynamics
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The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
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]
2012
Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization
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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
2008
IEEE/ASME transactions on mechatronics
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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
2005
IEEE Transactions on robotics
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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]
2010
Advances in Robot Manipulators
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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
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