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We present a hierarchical controller for a set of two linear synchronous motors with permanent magnets moving in two orthogonal directions for a two degree of freedom high-precision positionning system developed by Newport-France. This system is supposed to realize relatively fast linear displacements from 1 count (4 nm) to 400 mm. A linear displacement of 25mm must be achieved in less than 0.2 s...
In this work, we present an integrated planner for collision-free single and dual arm grasping motions. The proposed Grasp-RRT planner combines the three main tasks needed for grasping an object: finding a feasible grasp, solving the inverse kinematics and searching a collision-free trajectory that brings the hand to the grasping pose. Therefore, RRT-based algorithms are used to build a tree of reachable...
Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory...
The present paper proposes the control algorithm of direction of the end-point position error caused by the disturbance. Taking consideration of it, the effect of the disturbance on the end-point position is maximized in the direction of the singular vector corresponding to the maximum singular value. Therefore, if we can control the direction of the singular vector, we will be able to control the...
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