Impedance Matching for Serial Link Manipulators
نویسندگان
چکیده
منابع مشابه
An Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملImpedance Control with Varying Stiffness for Parallel-Link Manipulators
This paper proposes a new impedance control algorithm based on a variable stiffness-matrix, for parallel-link manipulators without the measurement of the tip position. It assumes that only the link lengths and velocities as well as the contact force at the tip are measured, and that the motion range is small around an operating point so that the nonlinear dynamics can be linearized. One of the ...
متن کاملKinematic Design of Serial Link Manipulators From Task Specifications
One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its task even when one of its joints fails an...
متن کاملLink Mass Optimization of Serial Robot Manipulators Using Genetic Algorithm
This paper presents the link mass optimization of a serial robot manipulator based on minimum joint torque requirements that is primary concern in the industrial robot applications. The optimization of link mass globally minimizes joint torques weighted by inverse of inertia matrix. Genetic algorithm (GA) was used to optimize energy produced by robot manipulator. The influences of GA parameters...
متن کاملGenericity Conditions for Serial Manipulators
A generic, or more properly 1-generic, serial manipulator is one whose forward kinematic mapping exhibits singularities of given rank in a regular way. In this paper, the product-ofexponentials formulation of a kinematic mapping together with the Baker–Campbell–Hausdorff formula for Lie groups is used to derive an algebraic condition for the regularity.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2005
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.23.245