This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinemati...
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This paper proposes an improved differential inverse kinematics algorithm which works good for high speed motion control. The dynamic constraint as well as the kinematic constraint is utilized for the inverse kinematics. The singular perturbation method helps to reduce inverse kinematics to be solvable. The numerical and experimental results show the performance of the proposed method clearly.
In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indee...
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In redundant manipulator research community, the phenomenon called torque instability has not yet been completely characterized using unanimous agreement on its mechanism. This article shows that the behavior is indeed caused by incomplete compensation of null dynamics related with self-motion. This instability can be avoided by proper control with compensation of nonlinear null dynamics, and we propose a method to stabilize conventional redundancy resolution schemes extended to dynamic controls.
There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral ...
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There have been many bilateral micro-teleoperation systems handling a small object. Historically, Lawrence[1] proposed the Transparency-Optimized Architecture and passivity theorem for stability analysis of bilateral teleoperation. He claimed that unless the task(or environment) impedance contains a significant inertial behavior, passivity condition for Transparency-optimized architecture can not be satisfied. To overcome this problem, we analyze and propose a method which can satisfy passivity condition for the micro-teleoperation system handling a small inertial object based on the structures originated by Lawrence and Hashtrudi-Zaad et al.[2] and velocity-force scaling property of micro-teleoperation.
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and...
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ISBN:
(纸本)0791836215
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex multi-articulated, multi-link, multi-loop systems in one step, without requiring assembly while maintaining the joint desired mobility. Expanding upon this, current research explores methods of insertion of component parts during the rapid prototype process. A rapidly prototyped mobile vehicle, RP MOVe, was fabricated to show this method and is presented here.
Enveloping grasp system not in static equilibrium results in dynamical motion. In this article, we develop a method based on dynamical-balance to solve motion analysis problem for an active-external grasp, that is to ...
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Enveloping grasp system not in static equilibrium results in dynamical motion. In this article, we develop a method based on dynamical-balance to solve motion analysis problem for an active-external grasp, that is to determine contact forces and accelerations consistent with the dynamics and friction law for a given torque-wrench pair. Since the method is analytic in nature, it may give chance of better efficiency and more direct insight than a relevant linear complementarity formulation, though the solutions are same. The method is verified using two examples: one is a simple grasp system with one frictional contact, and the other is a relatively general one with all frictionless contacts.
This paper presents (i) to propose a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach and (ii) to investigate a tuning method based on the proposed controller s...
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This paper presents (i) to propose a PID-type composite controller for controlling flexible arms modeled by the singular perturbation approach and (ii) to investigate a tuning method based on the proposed controller structure. For the slow sub-controller, PD plus disturbance observer is used, which eventually takes on PID form, and for the fast sub-controller, modal feedback PID control is utilized. Effects of design parameters of the controller on the closed loop response are investigated. Through simulation and experiments, the adequacy and performance of the proposed method are verified.
This paper describes the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output (SISO) linear-time-invariant (LTI) uncertain systems subject to sinusoidal distu...
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In this paper the workspace optimization of an orientational 3-legged parallel platform with universal (U), prismatic (P) and spherical (S) joints at each leg is performed. The workspace is parameterized using four de...
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In this paper the workspace optimization of an orientational 3-legged parallel platform with universal (U), prismatic (P) and spherical (S) joints at each leg is performed. The workspace is parameterized using four de...
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The efficient solution of a class of controller approximation problems by using frequency-weighted balancing related model reduction approaches is considered. It is shown that for certain standard performance and stab...
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