摘要:

AbstractThis article presents a new approach for solving the inverse kinematics of calibrated industrial robots. The presented method solves this type of inverse kinematics problem, which has no analytical (explicit) solution, by iteratively employing Pieper's solution for inverse manipulator kinematics. It provides fast and accurate solutions for virtually all calibrated commercial robots.

ISSN:0741-2223    

DOI:10.1002/rob.4620070502

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

年代:1990

数据来源: WILEY

摘要:

AbstractThis article presents a recursive algorithm for computation of dynamics of robot manipulators using the concepts of “augmented body” and “barycenter.” This efficient algorithm is proposed for real‐time control. The proposed method of computation is based on Newton‐Euler formalism, and it can be applied to any rigid‐link manipulator with open‐loop kinematic chains with revolute and/or prismatic joints. The computational efficiency of the proposed method is compared with other pu

ISSN:0741-2223    

DOI:10.1002/rob.4620070503

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

年代:1990

数据来源: WILEY

摘要:

AbstractThe effect of a manipulator inertial parameter errors on the manipulator system performance are studied. First, the relationships between the tracking error of the manipulator joint variables and the manipulator inertial parameter errors are derived. Then, using these relationships, the maximum steady state position, velocity, and acceleration errors of the joint variables are determined. The derived relationships allow us to acquire a desired steady state performance for joint variations either by increasing the control gains in the feedback control loops and/or by reducing the manipulator inertial parameter errors. These two problems are, also, addressed in this paper. The computational results of the maximum steady state position, velocity, and acceleration errors of the joints for a PUMA 560 arm are included.

ISSN:0741-2223    

DOI:10.1002/rob.4620070504

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

年代:1990

数据来源: WILEY

摘要:

AbstractIn this article, the optimal control problem for (rigid) robotic manipulators in the presence of obstacles is considered. First, two methods for the modeling of obstacles are considered. Through these methods, closed‐form approximations of obstacles in terms of the generalized coordinates of the manipulator are obtained. These expressions are then used to formulate an optimal control problem with state space constraints. The resulting optimal control problem is then solved numericall

ISSN:0741-2223    

DOI:10.1002/rob.4620070505

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

年代:1990

数据来源: WILEY

摘要:

AbstractModel‐based control techniques for industrial robotic manipulators were experimentally analyzed. The case study for the analysis was the first three joints of a PUMA‐560. Development of an advanced control evaluation environment removed the computational restrictions of previous studies. The specific issues of: incomplete and/or asynchronous dynamic compensation, feedback paradigm selection, payload sensitivity, and drive systems effects were experimentally analyzed. Evaluation results clearly demonstrate that the performance improvement capability of model‐based control is not restricted to research robots. A model‐based controller with complete feedforward compensation and sliding mode feedback reduced the maximum tracking error by at least a factor of five when compared to feedback alone. End‐effector payload invariant tracking only requires mass information. Tracking performance is not dependent on dynamic compensation at the servo rate. Evaluation results provide insight for adaptive control law design and a baseline to compare their performanc

ISSN:0741-2223    

DOI:10.1002/rob.4620070506

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

年代:1990

数据来源: WILEY

摘要:

AbstractThis article describes a hardware and software hierarchy for the control of manipulation with the Utah/MIT Dextrous Hand (UMDH). Control algorithms execute within a multiprocessing, shared memory computer environment partitioned into a three tiered hierarchy. Joint level servo algorithms are executed at the lowest level, trajectory generation and communication at the middle level and at the highest level, a new programming language called HPL (Hand Programming Language) is implemented. A functional approach to the control of manipulation is described and the functional philosophy is embedded within HPL. Tasks are specified by the concatenation and linear combination of small functional units called motor primitives. HPL provides an abstraction of the process of manipulation through its use of motor primitives. Hand control programs can be written and easily refined within the HPL programming environment and the resulting programs act as a conveniently annotated description of manipulation tasks.

ISSN:0741-2223    

DOI:10.1002/rob.4620070507

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

年代:1990

数据来源: WILEY

ISSN:0741-2223    

DOI:10.1002/rob.4620070501

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

年代:1990

数据来源: WILEY