ISSN:0741-2223    

DOI:10.1002/rob.4620060302

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

年代:1989

数据来源: WILEY

摘要:

AbstractAn adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link.

ISSN:0741-2223    

DOI:10.1002/rob.4620060303

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

年代:1989

数据来源: WILEY

摘要:

AbstractIn this article experimental results are presented for system identification and control of a single‐link flexible manipulator carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew‐angle commanded position. Various time‐domain parameter estimation techniques are used to identify ARMA model representations to be employed in controller tuning schemes for vibration compensation. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple PID control schemes, which are tuned as dictated by a varying, unknown pa

ISSN:0741-2223    

DOI:10.1002/rob.4620060304

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

年代:1989

数据来源: WILEY

摘要:

AbstractUsing inverse kinematic solutions forself‐motionof a class of 9‐R redundant robots, a conjugate‐gradient based constrained optimization scheme for incremental trajectory planning is formulated. The proposed scheme has been evaluated and proved to be an efficient optimization method for redundancy utilization. It can also be used for studying 7‐R and 8‐R manipulators by simply restricting to one‐variable and two‐variable optimization, respectively. In contrast with other approaches which are based on the Jacobian, our scheme exploits the availability ofclosed‐forminverse kinematic solutions to give more effective and a

ISSN:0741-2223    

DOI:10.1002/rob.4620060305

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

年代:1989

数据来源: WILEY

摘要:

AbstractCalibration methods that apply relative techniques to map robot inaccuracy increase robot flexibility by allowing for greater use and application of off‐line path planning techniques. To successfully implement the off‐line techniques described in this article, methods have been integrated for off‐line tool control frame (TCF) calibration, data base integration, and on‐line robot inaccuracy correction. The TCF calibration methods presented in this article successfully determine the TCF origin of the end‐effectors and sensors attached to the robot distal link to within the robot repeatability. When the methods were applied to a SEIKO DTRAN RT‐3000 robot, the TCP origins were statically predicted correct to within 0.025mm (0.001 in.). On‐line methods determine robot inaccuracy by mapping robot configurations relative to operational parts or to spatial templates, in contrast to the contemporary global mapping approaches. For the Seiko robot the resulting inaccuracy distributions permit simple error correction equations to be applied, improving robot positioning accuracy to less than ±0.1 mm in locally large regions and to within the repeatability of the robot ±0.025 mm) in smaller regions. This represents an order‐of‐magnitude decrease

ISSN:0741-2223    

DOI:10.1002/rob.4620060306

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

年代:1989

数据来源: WILEY

摘要:

AbstractA two‐dimensional array of small capacitive sensors detects the distance between each sensor tip and the target object. When touching the surface or operating at close distance, an image of the surface contour is obtained. Each capacitive sensor consists of a thin short lead (line capacitance) embedded in a hard ceramic substrate. The sensor array is rugged and can, due to its small size, be configured to almost any desired shape in order to examine even hard‐to‐reach surfaces. An electronic circuit converts the capacitance variations into voltage signals. The sensing process is controlled by a microcomputer, which addresses the sensors in serial order through a multiplexer, samples the data and linearizes them according to the calibration curve. When compared to resistive touch sensors, the capacitive sensing method offers potentially higher package density and image resolution; another advantage is the capability to detect the presence of objects while approaching, before physical contact is made. A proximity sensor array mounted on a robot end effector can determine geometrical parameters such as edges of surfaces, hole center locations, and the end effector pose (angle of alignment between end effector and target sur

ISSN:0741-2223    

DOI:10.1002/rob.4620060307

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

年代:1989

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620060301

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

年代:1989

数据来源: WILEY