Adaptive control of kinematically redundant robots
نویسندگان
چکیده
منابع مشابه
Adaptive Control of Kinematically Redundant Robots
A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In a usual robotic task, only the end-effector position tr'ajectory is specified. The joint position trajectory is unknown, and it must be selected from a self-motion manifold for a specified end-effector. In many situations the robot dynamic parameters such as link mass, inertia and j...
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of joint elasticity and kinematic redundancy. More specifically, manipulators in which there are more controlled (joint space) degrees of freedom than task space degrees of freedom and in which at least one of these controlled joints is connected to an adjacent link through an elastic coupling are discussed. It will be shown that there is a wide class of examples for which it is impossible to f...
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In this paper, the 3-Dimensional (3D) position and orientation of a camera held by the end-effector of a robot manipulator is regulated to a constant desired position and orientation despite (i) the lack of depth information of the actual or desired camera position from a target, (ii) the lack of a 3D model of the target object, and (iii) parametric uncertainty in the dynamic model of the robot...
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A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In practical applications the extra degrees of fieedom increase the orientation and reach of the robot. The load carrying capacity of a single robot can be increased by cooperative manipulation of the load by two or more robots. In this paper we develop an adaptive control scheme for k...
متن کاملKinematically Redundant Manipulator
being solved to determine the corresponding required joint values, 8(t;). A kinematically redundant manipulator can, in general, satisfy an end-effector positioning constraint, x(t;), with an infinite family of joint values satisfying (2). The underlying premise for advocating the use of redundant manipulators for critical applications is that if a joint should fail, then the redundancy of the ...
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ژورنال
عنوان ژورنال: IMA Journal of Mathematical Control and Information
سال: 1997
ISSN: 0265-0754,1471-6887
DOI: 10.1093/imamci/14.3.225