Control of Redundant Robot Manipulators: Theory and by Rajni V. Patel, F. Shadpey

By Rajni V. Patel, F. Shadpey

This monograph offers a complete and thorough remedy of the matter of controlling a redundant robotic manipulator. It provides the most recent learn from the sector with an excellent stability among concept and perform. All theoretical advancements are demonstrated either through simulation and experimental paintings on a precise prototype redundant robotic manipulator. This e-book is the 1st textual content geared toward graduate scholars and researchers operating within the region of redundant manipulators giving a accomplished assurance of regulate of redundant robotic manipulators from the point of view of idea and experimentation.

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Additional info for Control of Redundant Robot Manipulators: Theory and Experiments (Lecture Notes in Control and Information Sciences)

Sample text

1) is unique if n=m, or if n-m variables are fixed when n>m. The boundaries of the aspects are defined by the singularities of the Jacobian matrix Je. Therefore, the interior of each aspect is free from singularities. Each aspect in joint space corresponds to a convex subspace of the reachable workspace. b). From these plots, it is obvious that if the desired task trajectory lies inside two different aspects, the inverse kinematics of the manipulator fails to provide a continuous joint trajectory between the initial and the final points.

In this section, the sources of this problem were presented. Their solutions will be presented in Chapters 4 and 5. The formulation of the additional tasks to be used by the redundancy resolution module were presented in this chapter. Joint limit avoidance which is one of the most useful additional tasks was studied in detail. 5 Conclusions 33 The basic formulation of static and moving obstacle collision avoidance task in 2D workspace was presented. We are now in a position to extend the proposed redundancy resolution scheme to the 3D workspace of REDIESTRO and evaluate the results by simulation and experiments.

2) as the additional task in the configuration control scheme for redundancy resolution. The 38 3 Collision Avoidance for a 7-DOF Redundant Manipulator idea is to model the links of the manipulator and the objects by primitives such as spheres and cylinders. , the distance from a critical point of the arm to that of the object. The critical points associated with the manipulator and the c c c obstacles are denoted by P i and P j with position vectors p i and c p j , respectively. c • Critical direction detection: For any pair of critical points P i c and P j , determine the critical direction, denoted by u ij , a unit c c vector directed from P i to P j .

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