In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed...
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In this work, a 'qualitative reasoning' (common-sense reasoning) approach to the synthesis of dexterous manipulative synergies for articulated robot hands is provided. An intelligent planner has been developed in order to perform this synthesis. The synthesis is performed in the following step-wise manner viz., (i) determination of a desired displacement of an object, given an initial and final configuration and (ii) determination of the corresponding displacements of the fingers, that induces the desired object displacements. The determination of a desired object displacement, is the main subject of this paper. A 'qualitative' formulation of object motion, and an algorithm to determine the sequence of motions necessary to change an arbitrary initial configuration of the object, to a desired final configuration, are provided. The details regarding the implementation of this algorithm and the future implications of this work are highlighted.< >
In this paper, an approach to motion and force control of multiple coordinated redundant manipulators working in an environment with obstacles is developed in which the extended task space technique is presented for e...
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In this paper, an approach to motion and force control of multiple coordinated redundant manipulators working in an environment with obstacles is developed in which the extended task space technique is presented for establishing the dynamic equations of the coordinated redundant manipulators using the redundant degrees of freedom. This approach can be used to control the motion of an object held by the redundant manipulators and the internal forces which do not contribute to the motion of the object while avoiding obstacles. Three subsystem error equations are generated, i.e., a position error subsystem, an internal force error subsystem, and a constraint error subsystem. The adaptive law is derived to estimate the unknown parameters of the multiple coordinated redundant manipulators and the object in terms of the three error subsystem equations. The paper shows that the control scheme improves the position and internal force tracking accuracy and avoids collision for a class of systems with uncertain knowledge of the dynamic model.
To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified 3D part assembly tasks into various target robotic work cel...
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The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research is performed for manipula...
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The methods discussed in Part 1 of this paper are applied for the determination of all potential configurations of manipulator links and the execution of prescribed trajectories. The research is performed for manipulators having five, seven, and eight degrees of freedom.
The authors proposed methods: (i) for determination of special link positions, (ii) computer aided simulation and identification of manipulator configurations and (iii) execution of prescribed trajectories. Examples o...
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The authors proposed methods: (i) for determination of special link positions, (ii) computer aided simulation and identification of manipulator configurations and (iii) execution of prescribed trajectories. Examples o...
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The authors proposed methods: (i) for determination of special link positions, (ii) computer aided simulation and identification of manipulator configurations and (iii) execution of prescribed trajectories. Examples of application are given for the Cincinnati Milacron Manipulator and Unimation Puma Manipulator.
21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the ...
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ISBN:
(数字)9781447145103
ISBN:
(纸本)9781447145097;9781447161196
21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, it takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past.;The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will provide admirable supporting theory for a graduate course in modern kinematics and should be of considerable interest to researchers in mechanical design, robotics or protein kinematics or who have a broader interest in algebraic geometry and its applications.
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