An observer based control strategy is proposed for a flexible Cartesian (SCARA) Robot which is modeled as a flexible cantilever beam with a translational base support. A piezoelectric (PZT) patch actuator is bonded on...
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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 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.
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 paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (pe...
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The paper discusses new developments of the data fusion paradigm due to Cortesao and Koeppe (1999, 2000). A bank of Kalman filters is analyzed in the fusion process. Experiments for a robotic compliant motion task (peg-in-hole) emerged from human skills are reported. Stereo vision and pose sense are fused to execute the task. Feedforward artificial neural networks (ANNs) are trained to transfer human skills to robotic manipulators.
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.
This paper addresses one of standard problems in enveloping grasp analysis, the so-called contact force distribution. First, a subspace structure is analyzed using projection matrices into four subspaces of contact fo...
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This paper addresses one of standard problems in enveloping grasp analysis, the so-called contact force distribution. First, a subspace structure is analyzed using projection matrices into four subspaces of contact force space. Motivated by an example demonstrating that a careless definition of contact force subspaces leads to completely invalid result, we propose a proper set of projection matrices using a special weighted pseudo-inverse. Next, an example of statical ambiguity is provided in obtaining contact force distribution, which implies that contact forces can not be determined in light of statical viewpoint. To resolve such ambiguity, we propose the notion of dynamical balance. By presenting a tool for identification of dynamically balanced motions and forces, we can have a complete characterization of the force distribution for a general enveloping grasp system.
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