摘要:

AbstractThe joint velocities required to move the end‐effector of a redundant robot with a desired linear and angular velocity depend on its configuration. Similarly, the joint torques produced due to the force and moment at the end‐effector also depend on its configuration. When the robot is near a singular configuration, the joint velocities required to attain the end‐effector velocity in certain directions are extremely high. Similarly, in some configurations the joint torque produced at certain joints may be high for a relatively small magnitude of external force. An infinite number of trajectories in the joint space can be used to achieve a desired end‐effector trajectory for redundant robots. However, a joint trajectory resulting in robot configurations requiring lower joint velocities or joint torques is desired. This may be achieved through a proper utilization of redundancy. Local performance measures for redundant robots are defined in this article as indicators of their ability to follow a desired end‐effector trajectory and their ability to apply desired forces at the end‐effector. Thus, these performance measures depend on the task to be performed. Control algorithms which can be efficiently applied to redundant robots to improve these performance measures are presented. These control algorithms are based on the gradient projection method. Gradients of the performance measures used in the control schemes result in simple symbolic expressions for “real world” robots'. Feasibility and effectiveness of these control schemes is demonstrated through the simulation of a seven‐degree‐of‐freedom redundant robot derived f

ISSN:0741-2223    

DOI:10.1002/rob.4620050502

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

年代:1988

数据来源: WILEY

摘要:

AbstractThe decoupling method is directly applied to the Lagrange formalism. Explicit expressions of control laws are given, allowing for automatic derivation of control algorithms. Finally a 3‐dof robot is used to illustrate the proposed rule

ISSN:0741-2223    

DOI:10.1002/rob.4620050503

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

年代:1988

数据来源: WILEY

摘要:

AbstractThis study analyzes the effects of link flexibility on the dynamic stability of a force‐controlled flexible manipulator. The closed‐loop dynamic equation for a l‐link manipulator is first derived explicitly using the modal representation technique. Stability analysis is then carried out by computing the system eigenvalues. Results show that the link flexibility is one of the causes of dynamic instability of motion of the flexible roboti

ISSN:0741-2223    

DOI:10.1002/rob.4620050504

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

年代:1988

数据来源: WILEY

摘要:

AbstractThis article proposes a self‐organizing model for pattern learning together with an application to an autonomous mobile robot system. The self‐organizing model consists of a processing rule prescribed and a memory part being blank at the initial stage. To an input signal, the model searches for a similar signal in the memory, and recalls its related information. If the information accompanied with the input signal differs from the recalled information, the model adds the new information to the memory. It influences the subsequent operations. Thus, the model constructs successively a data‐base in a self‐organizing way. This model can universally learn and reproduce any pattern of input‐output response desired. Two principal functions in autonomous movement, i.e., position identification and obstacle avoiding movement were realized based on the self‐organizing model. Furthermore, a camera type autonomous mobile robot system for indoor was made up. The size of the robot is about 0.7 × 0.7 × 0.7 m, and the weight is about 30 kg. The speed of movement is less than 3 km/h. A small computer that has a 16 bit microprocessor and a 1Mbyte RAM controls the motion of the robot with an exte

ISSN:0741-2223    

DOI:10.1002/rob.4620050505

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

年代:1988

数据来源: WILEY

摘要:

AbstractThe decentralized controller for manipulation robot is tested for its robustness to payload variation. First the local controllers are synthesized to withstand variation of inertia round the joints and then the global stability of the robotic system is examined. Three various situations are discussed: a) when actuator inertia is large in comparison to mechanism inertia, b) if the variation of payload is small in comparison to mechanism inertia, and c) if the large variation of payload parameters are expected. An algorithm for testing the robustness of the robot control to parameter variation is established, too. The purpose of the algorithm is to determine the allowable variation of the payload parameters which can be withstood by the simple decentralized controller. On the other hand, by this algorithm the local servosystems can be synthesized which are capable to withstand assumed parameter variation. This synthesis is demonstrated on an example of particular robotic system.

ISSN:0741-2223    

DOI:10.1002/rob.4620050506

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

年代:1988

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620050507

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

年代:1988

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620050501

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

年代:1988

数据来源: WILEY