Self-motion Control of Kinematically Redundant Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Self-motion Control of Kinematically Redundant Robot Manipulators write by Omar Waleed Najm Maaroof. This book was released on 2012. Self-motion Control of Kinematically Redundant Robot Manipulators available in PDF, EPUB and Kindle. Redundancy in general provides space for optimization in robotics. Redundancy can be defined as sensor/actuator redundancy or kinematic redundancy. The redundancy considered in this thesis is the kinematic redundancy where the total degrees-of-freedom of the robot is more than the total degrees-of-freedom required for the task to be executed. This provides infinite number of solutions to perform the same task, thus, various subtasks can be carried out during the main-task execution. This work utilizes the property of self-motion for kinematically redundant robot manipulators by designing the general subtask controller that controls the joint motion in the null-space of the Jacobian matrix. The general subtask controller is implemented for various subtasks in this thesis. Minimizing the total joint motion, singularity avoidance, posture optimization for static impact force objectives, which include maximizing/minimizing the static impact force magnitude, and static and moving obstacle (point to point) collision avoidance are the subtasks considered in this thesis. New control architecture is developed to accomplish both the main-task and the previously mentioned subtasks. In this architecture, objective function for each subtask is formed. Then, the gradient of the objective function is used in the subtask controller to execute subtask objective while tracking a given end-effector trajectory. The tracking of the end-effector is called main-task. The SCHUNK LWA4-Arm robot arm with seven degrees-of-freedom is developed first in SolidWorks® as a computer-aided-design (CAD) model. Then, the CAD model is converted to MATLAB® Simulink model using SimMechanics CAD translator to be used in the simulation tests of the controller. Kinematics and dynamics equations of the robot are derived to be used in the controllers. Simulation test results are presented for the kinematically redundant robot manipulator operating in 3D space carrying out the main-task and the selected subtasks for this study. The simulation test results indicate that the developed controller's performance is successful for all the main-task and subtask objectives.
Control of Redundant Robot Manipulators
Control of Redundant Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control of Redundant Robot Manipulators write by Rajni V. Patel. This book was released on 2005-05-04. Control of Redundant Robot Manipulators available in PDF, EPUB and Kindle. This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.
The control of kinematically redundant robot manipulators
The control of kinematically redundant robot manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook The control of kinematically redundant robot manipulators write by Ian David Walker. This book was released on 1985. The control of kinematically redundant robot manipulators available in PDF, EPUB and Kindle.
Robot Manipulator Redundancy Resolution
Robot Manipulator Redundancy Resolution - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Manipulator Redundancy Resolution write by Yunong Zhang. This book was released on 2017-09-06. Robot Manipulator Redundancy Resolution available in PDF, EPUB and Kindle. Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.
Repetitive Motion Planning and Control of Redundant Robot Manipulators
Repetitive Motion Planning and Control of Redundant Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Repetitive Motion Planning and Control of Redundant Robot Manipulators write by Yunong Zhang. This book was released on 2014-07-08. Repetitive Motion Planning and Control of Redundant Robot Manipulators available in PDF, EPUB and Kindle. Repetitive Motion Planning and Control of Redundant Robot Manipulators presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs (QPs), which are solved by neural networks or numerical algorithms. The RMP schemes are demonstrated effectively by the simulation results based on various robotic models; the experiments applying the fundamental RMP scheme to a physical robot manipulator are also presented. As the schemes and the corresponding solvers presented in the book have solved the non-repetitive motion problems existing in redundant robot manipulators, it is of particular use in applying theoretical research based on the quadratic program for redundant robot manipulators in industrial situations. This book will be a valuable reference work for engineers, researchers, advanced undergraduate and graduate students in robotics fields. Yunong Zhang is a professor at The School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China; Zhijun Zhang is a research fellow working at the same institute.
