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This paper deals with the trajectory planning of a full-rotate parallel robot for wafer transfer operations. With the path length in work space of the robot as parameter, the dynamic model is parameterized. The system constraints-input torque and velocity constraints and the task constraints-output velocity, acceleration, and jerk limits are set; with the minimized operation time as the optimization...
To solve the torque minimization problem of redundant manipulators, a bi-criteria scheme is investigated in this paper. Different from previous researches, inertia-inverse is considered corresponding to global kinetic energy minimization of robot mechanisms via this scheme. Such a scheme could be finally formulated as a general quadratic program (QP) subject to equality, inequality and bound constraints...
In bilateral teleoperation, the operator experiences forces and torques applied to the slave manipulator. These forces and torques, however, consist of two components: on the one hand, forces and torques due to contacts with the environment, and on the other hand, non-contact forces, i.e., inertial forces, centrifugal forces, Coriolis forces, and associated torques. For several reasons, eliminating...
This paper presents a method of determining exact solutions to kinestatic analyses of lower mobility manipulators by means of the reciprocal Jacobian. The existence and uniqueness of the reciprocal Jacobian are shown, which enables the complete kinestatic analyses of both serial and fully parallel manipulators in a unified way, as well as the derivation of the constraints on the end-effector twist...
This paper describes a stable motion control of a mobile manipulator against the external force. As well known, the mobile manipulator has infinite motion area, which brings a sophisticated advantage to the manipulator control. However the unexpected external force to the mobile manipulator makes its motion unstable because there is no fixed points in the stationary coordinate. To obtain the stable...
This paper presents two linear models for a "quasi-static" load distribution in a multi-manipulator task. The space curve frames generated by the space curve trajectories of each manipulator serve as frames of reference for the forces acting on the load. All constraints on the load distribution problem are formulated with reference to the force frames. The simulation of a simple task with...
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