摘要:

AbstractIn this article, we present a novel method that results in efficient minimum norm solution for the rate coordination problem in redundant manipulators. The theory is developed based upon a geometric interpretation that, for minimum norm criterion, vectors orthogonal to constraint space should pass through the origin of the solution space. It is shown that, for any spatial manipulator with 1, 2, or 3 degrees of redundancy, the minimum norm rate solution can be derivedin analytic closed form.An example of the analytic formulation is given for a 3R planar case, substantiated with simulation results. The behavior of this algorithm in nonredundant and near singular situations is also discussed. The method offers an equivalent but much more efficient alternative to using the pseudoinverse in redundancy resolution and, in fact, is applicable to any underdetermined linear system. An alternative formulation of pseudoinverse arrived at in the course of the development is also presented. © 1992 John Wiley&Sons, Inc

ISSN:0741-2223    

DOI:10.1002/rob.4620090802

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThe objective of this article is to highlight the reachability and dexterity of dual‐elbow manipulators and provide a comparative evaluation of their capabilities. By necessity, dual‐elbow robots are compared to elbow manipulators, thede factostandard of industrial applications. Although it is well established that the ideal elbow and dual elbow geometries are comparable in terms of workspace optimization, it is shown that the corresponding realistic geometries exhibit distinct properties. Realistic dual‐elbow and elbow manipulators are investigated and the effects of manufacturing distortions on the flexibility and workspace utilization of the two geometries are quantified and contrasted. Realistic dual‐elbow geometries are shown to provide, in general, better reachability and dexterity, especially for manipulators with a large structural frame, and to be less sensitive to parallelism errors. © 1992 John Wiley&S

ISSN:0741-2223    

DOI:10.1002/rob.4620090803

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractFor an industrial robot on a daily operation basis such as pick and place, it is desired to minimize the robotic joint displacements when moving the robot from one location to another. The objective of the optimization here is to simultaneously minimize a robot end effector's positional error and the robotic joint displacements. By modifying the searching algorithm in the existing complex optimization method, this article presents a technique for finding the desired global optimum solution more efficiently. To compare the optimum searching capability between the proposed and existing searching algorithms, a modified Himmelblau's function is used as an objective function. The presented technique is then applied to a spatial three‐link robot manipulator for global minimization of the joint displacements. © 1992 John Wiley&Sons, I

ISSN:0741-2223    

DOI:10.1002/rob.4620090804

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractThis article presents the kinematic model of an automatic guided vehicle (AGV) with an inclined steering column and an offset distance. The vehicle configuration considered here employs the front wheel as the driving and steering wheel. From the kinematic model, a criterion is derived to test the existence of inverse kinematic solution. The criterion is a function of the geometric parameters of the AGV and the steering angle of the wheel. From the criterion defined, conditions for the existence of inverse kinematic solution for steering column configurations with and without inclination and offset distance are obtained. The criterion also presents the range of steering angles for which the inverse kinematic solution exists. The criterion signifies the presence of a unique solution for the motion parameters of the wheel, i.e., the wheel speed, steering angle, and steering rate for desired values of the motion parameters of the AGV, i.e., the linear and angular velocities of the AGV. This information is needed for the guidance control of AGVs based upon a kinematic control scheme (dead‐reckoning control) without using the absolute position referencing system to follow a predefined path at prescribed linear and angular velocities. © 1992 John Wiley&Sons, I

ISSN:0741-2223    

DOI:10.1002/rob.4620090805

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

摘要:

AbstractA D'Alembert‐Lagrangian approach is developed for the dynamics of a chain of flexible links. The governing equations and boundary conditions for each link are derived. While the approach is developed for chains with any numbers of links, the dynamic equations are written explicitly for a chain with two flexible links and a payload. © 1992 John Wiley&Sons, I

ISSN:0741-2223    

DOI:10.1002/rob.4620090806

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620090801

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1992

数据来源: WILEY