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The underwater vehicle-manipulator system (UVMS) generally has more degrees of freedom than those required to perform a given task. Because of these extra of degrees of freedom, UVMS has infinite combinations of joint velocities. In this paper, in order to generate the joint angle trajectories of the manipulator, a redundancy resolution is performed to minimize the distance between the position of...
In dynamic manipulation, robots can manipulate objects without grasping by utilizing inertia effect. However, the trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraint. Trajectory deformation considering dynamic constraint after original trajectories are generated is necessary for the issue. To realize such deformation methods, we introduce on sequence-to-sequence...
In order to solve the problem that the existing parallel manipulator is expensive, complicated design and complicated control, this paper designs a three-degree-of-freedom parallel manipulator with cam-driven single power input. The manipulator is cheap and widely used. And then its kinematics research. The freedom degree analysis of the manipulator is completed, and the kinematics is obtained. And...
In this paper a numerical approach for the position, velocity and acceleration analysis for a 5R parallel manipulator is presented. 5R parallel manipulator is a two degrees of freedom planar mechanism which has been extensively studied by analytical methods. In this work, the use of computational tools such as Matlab and ADAMS is proposed in order to solve the inverse and forward kinematic problem...
This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method...
Dynamic manipulation of magnetization state (MS) in variable flux permanent magnet synchronous machines (VF-PMSMs) during normal operation based on the torque-speed operating conditions has been shown to significantly reduce machine losses over urban driving cycles. However, the additional losses that are induced during the dynamic MS manipulation have not been evaluated. This paper presents a combination...
In this paper, we investigate identification methods for dynamic parameters of robot manipulator. The focused method is based on heuristic particle swarm optimization algorithm (PSO) with some extended features. The estimated parameters by PSO are used to predict required joint torques for high accuracy tracking control. The effectiveness of some PSO methods for tracking control problem are verified...
The mature analysis formula has been well used in the robotic forward kinematics for redundant manipulators, but the inverse-kinematics (IK) question is complex. Many methods have been adopted to resolve the complicated inverse-kinematics problem; for example, the previous pseudo-inverse based (PIB) method that have to calculate the computationally expensive inverse (specifically, pseudo-inverse)...
Trajectory tracking is one of the most control tasks for robotic manipulators. To take the advantages of nonlinear PD (NPD) control and sliding mode control (SMC), a NPD-SMC law is proposed for tracking control of a 3-DOF planar robotic manipulator. The NPD-SMC is a nonlinear feedback control without the requirement of system dynamic modeling. The proposed NPD-SMC is applied for linear and nonlinear...
A method of trajectory planning with regards to control constraints for mobile manipulator working in the workspace including obstacles is presented. The task of the robot is to reach a specified end-effector position with high manipulability measure of the holonomic arm. The motion is planned in such a way to guarantee that mechanical and collision constraints are satisfied. To ensure fulfillment...
We propose an enhanced time-delay controller (TDC) for robot manipulators using Takagi-Sugeno-Kang (TSK) fuzzy control systems. The proposed controller has three terms: a time-delay estimation (TDE) term to estimate and cancel continuous nonlinearities of robot dynamics, a desired dynamics injection term, and a TSK fuzzy inference system to correct the effect of the TDE error. The TSK-type fuzzy inference...
In this paper, optimal trajectory control of a flexible manipulator is studied on the basis of partial differential equation (PDE) model. The PDE model of the flexible manipulator is established by Hamilton principle. Using singular perturbation theory, the original PDE model is divided into two decomposed subsystems. Differential evolution (DE) algorithm and cubic spline interpolating function method...
In this paper we propose a method for motion planning and feedback control of hybrid, dynamic, and non-prehensile manipulation tasks. We outline five subproblems to address this: determining a set of manipulation primitives, choosing a sequence of tasks, picking transition states, motion planning for each individual primitive, and stabilizing each mode using feedback control. We apply the framework...
This paper presents a motion planning approach for cooperative transportation using aerial robots. We describe a framework based on Parametric Dynamic Movement Primitives (PDMPs) for coordinating multiple aerial robots and their manipulators quickly in an environment cluttered with obstacles. In order to emulate the optimal motion, we combine PDMPs and Rapidly Exploring Randomized Trees star (RRT∗)...
Robotic assembly tasks are subject to uncertainties arising from part tolerances. A popular approach to deal with such partially unstructured environments is to introduce compliance by using admittance control schemes. For such schemes, contact forces and torques are speed dependent, which often limits the achievable assembly speed. To overcome this limitation, we present a new method for increasing...
This paper proposes a nonprehensile manipulation scheme using the vibration of a plate, where a 3-DoF (degree of freedom) motion of a part is controlled using a single actuator. A manipulator is introduced, the end effector of which is a flat plate. The manipulator employs a hybrid joint mechanism with a twisted axis layout. The characteristic of this mechanism is that the shape of the trajectory...
Differential flatness provides a systematic approach to plan and control feasible trajectories for underactuated nonlinear systems. Previously [1], the authors have developed a methodology to design a class of under-actuated planar manipulators to be differentially flat. This paper investigates robustness of this flatness based control with respect to parametric uncertainties. Existing literature...
We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the system exploiting its differential flatness property; ii) a decentralized feedback controller acting...
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimiza- tion problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We construct an initial feasible solution by analyzing the final time effect for feasibility problems of flatness based motion planning problems. More specifically, we...
In order to capture and rescue a tumbling satellite, a space manipulator is required to track the trajectory of the capturing port of the target satellite, synchronously. This paper focuses on the control scheme of space manipulator for tracking and capturing a tumbling target satellite. First, the kinematic and dynamic equations of the space manipulator are derived, and the desired trajectory for...
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