The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, a new region control scheme is proposed for underwater vehicle-manipulator systems (UVMS). In the proposed control concept, the desired objective can be specified as a region instead of a point. The proposed region control concept is a generalization of setpoint control problem because when the desired region is specified arbitrarily small, the control objective reduces to a point....
This work investigates feedforward control of elastic robot structures. A general serial link elastic robot model which can describe a modern industrial robot in a realistic way is presented. The feedforward control problem is discussed and a solution method for the inverse dynamics problem is proposed. This method involves solving a differential algebraic equation (DAE). A simulation example for...
Constraint force minimization is essential to improve the dynamic performance of an industrial manipulator. An optimization method is proposed to minimize the constraint forces using the concept of dynamically equivalent system of point-masses. It is shown that for the six-DOF PUMA robot the constraint forces are substantially reduced.
Human machine collaborative systems (HMCS) have been developed to enhance sensation and suppress extraneous motions or forces during surgical tasks requiring precise motion. However, to date such systems have enforced constraints on the position or path of a tool, but have not considered the dynamics of motion. Also, the focus has been on the effect of guidance of motion during a task, rather than...
In this paper a study is conducted on the force capabilities of centripetal force actuated microrobotic platforms. The aim is to exploit the centripetal forces generated by platform mounted vibrating micro-motors for micromanipulation purposes. First, an overview of the platform dynamics and motion capabilities is presented. The type of forces generated by the actuation mechanism as well as due to...
Robust controllers for robot manipulators ensure stability properties of the closed loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust control laws, while guaranteeing the stability result, present an undesired interaction between the gains of the controller of the nominal system and the robust control term. Based on a structured...
This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object. It is then shown that, in the case of a pair of planer fingers with two and three joints and a 2D rigid object with parallel or non-parallel flat surfaces, there exists a sensory-motor coordinated control signal...
In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control law parameters in order to improve the dynamic accuracy of the robot. They can also be exploited to verify the load transported by the robot. The methods presented have been validated using Staubli RX 90...
Hyper-flexible elements like tethers and ropes will have various possibilities of novel manipulations. In this paper, casting and winding manipulation of hyper-flexible manipulators (HFM) is considered. The HFM is modeled and analyzed as an underactuated multi-link system connected by non-elastic passive joints. An iterative revision method of parameter identification and state estimation is proposed...
Modular or re-configurable robots have been studied and developed over two decades. Most researches focus on mechatronic interfaces and re-configurable capabilities. However, less attention has been paid to dynamics and control. Consequently, the control performance of a modular robot has never been comparable with an integrated robot, due to the lack of proper handling of the dynamic interactions...
This paper presents recent results in configuring a multiscale (macro-micro) robotic assembly platform with modular and reconfigurable characteristics. M3 is a multi-robot system capable of spanning across the macro-meso-micro scales, and has been specifically designed to package MOEMS (Micro Opto Electro Mechanical Systems). The emphasis on packaging (as opposed to assembly) is inclusive of the latter,...
Aimed at achieving ultra-high precision control performance for high-end applications of robots equipped with harmonic drives, an adaptive joint torque controller developed previously is extended to all the joints of seven degrees of freedom (DOF) robot manipulator using four different types of harmonic drives. The developed adaptive joint torque controller uses additional sensing including the joint...
Robots that use cycloidal gears, belts, or long shafts for transmitting motion from the motors to the driven rigid links display visco-elastic phenomena that can be assumed to be concentrated at the joints. For the design of advanced, possibly nonlinear, trajectory tracking control laws that are able to fully counteract the vibrations due to joint elasticity, full state feedback is needed. However,...
Human can pinch or grasp and manipulate an object stably and dexterously. Accomplishment of such tasks is contributed from human hand's configuration, called "fingers-thumb opposability". This opposability of the thumb against other digits is specific and granted to only human among primates. When we use a cell phone, or change a TV's channel using a remote controller, we grasp it by a palm...
The present paper introduces an evaluation of the manipulation performance of a robotic arm with respect to control accuracy and mechanical efficiency, taking into consideration the effects of gravity and the dynamic process between inputs and outputs in the robotic system. A measure based on the output controllability ellipsoid is proposed, which shows the relationship between the end-effector motion...
In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation shows that very good performance can be achieved using standardized PowerCube actuator modules from Amtec and a standard workstation using CAN bus communication. Implementation issues...
Flexible joint robot manipulators can be decomposed into two cascaded subsystems, a series connection of robot link dynamics and joint dynamics. For these flexible manipulators, we propose the robust controller using a recursive design method. The recursive design procedures are constructive and contain two steps. First, a fictitious robust controller for the robot link dynamics is designed as if...
This paper presents a new controller for controlling a number of feature points on a robot manipulator to trace desired trajectories specified on the image plane of a fixed camera. The controller is designed to cope with the case when the intrinsic and extrinsic parameters of the camera as well as the robot parameters are not calibrated. The controller employs the depth-independent image Jacobian...
In many applications of robot manipulators, the end-effector is required to make contact with environment. In these applications, it is necessary to control not only the position but also the interaction force between the robot end-effector and environment. Most research so far on motion and force tracking control has assumed that the kinematics and constraint surface are exactly known. In this paper,...
This paper develops a purely deductive approach for dynamic analysis of parallel robots, based on consideration of Gauss' principle through Appell's approach. It follows previous works, along these lines, by the author for multibody systems and continuous media. The approach consists in formulating a constrained optimization problem that simultaneously leads to the inverse and direct dynamical models,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.