摘要:

AbstractA new multirate nonlinear controller for robot manipulators is described. The algorithm stems from the computed torque method, but has several modifications on its structure, resulting in a more robust controller.The main philosophy behind those improvements resides on a sound engineering and management of the system resources. Consequently, the use of multirate sampling, memory tables, and predictive action arises naturally from that methodology.The resulting controller is easy to tune using standard industrial engineering practice; moreover, by alleviating the computational burden its implementation is feasible with present day microprocessors.

ISSN:0741-2223    

DOI:10.1002/rob.4620060102

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

年代:1989

数据来源: WILEY

摘要:

AbstractSingle point sensors can measure the position of one point fixed to a manipulator's end effector. When single point sensors have been used for calibration, it has not been possible to calibrate the orientation of the tool. Furthermore, it can be difficult to calibrate the sensor system. Results in the literature seldom provide a complete kinematic calibration of the manipulator. Presented here is a technique that enables single point sensors to gather sufficient information to complete kinematic calibration. In addition, the method can reduce the burden of calibrating the sensor system.

ISSN:0741-2223    

DOI:10.1002/rob.4620060103

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

年代:1989

数据来源: WILEY

摘要:

AbstractFor the situation of multiple cooperating manipulators handling a single object, a formulation is presented which allows load distribution of the combined system to be made while taking manipulator dynamics into account. First, object dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics is detailed. Then a method is introduced which transforms the object load to the joint level. At this level, various methods of load distribution that allow subtask performance are proposed. These methods allow desired object motion while selecting loads desirable to alleviate manipulator dynamic loads.

ISSN:0741-2223    

DOI:10.1002/rob.4620060104

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

年代:1989

数据来源: WILEY

摘要:

AbstractWalking vehicles have the potential to emulate the superior off‐road mobility of biological systems. However, it is important to make the walking machine terrain adaptive and versatile, and to minimize man's role as an operator in order to realize this potential. Terrain adaptive locomotion involves intelligent foothold selection and the control of gait to produce the desired motion. This requires a departure from the idealized, structured stepping patterns for statically stable gaits which have been the object of considerable research. A modifiedwave gaitis used to demonstrate that it is possible for the vehicle velocity to be varied continuously in accordance with higher level commands even with irregular, asymmetric, and changing support patterns, A varying duty factor is employed to enable optimal leg cycling frequencies. Implementation of gait control algorithms and results from a computer simulation are also presente

ISSN:0741-2223    

DOI:10.1002/rob.4620060105

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

年代:1989

数据来源: WILEY

摘要:

AbstractThe global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision‐avoidance navigation strategies are derived first. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulation studies of two or more interacting robot

ISSN:0741-2223    

DOI:10.1002/rob.4620060106

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.4620060101

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

年代:1989

数据来源: WILEY