Modeling and Control of Redundant Space Manipulator

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Trajectory Control of Curve Constrained Hyper-Redundant Space Manipulator

This paper presents a methodology to control motion planning of a hyper-redundant planar pace robot tracing a specified end-effector path. For this, a space robot of 6 DOF has been considered for study. A hyperredundancy enhances the capability to realize various kinds of task, i.e., obstacle avoidance, joint limits, singularity avoidance, etc. For full utilization of its potential capability, ...

متن کامل

The Space Redundant Robotic Manipulator Chaotic Motion Dynamics Control Algorithm

A free-floating space redundant robotic manipulator dynamics model is established and the dynamics equation is derived, the delayed feedback control time and the self-adaptive gain coefficient are obtained by substituting into delayed feedback control equations. Then simulated dynamics control chaotic motion of the space redundant robotic manipulator, the simulation results show that the chaoti...

متن کامل

Modeling and control of a mobile manipulator in task space

The present paper shows a systematic approach to modeling and control mobile manipulators that transforms the problem to the modeling of a stationary manipulator stationary with nonholonomic kinematic constraints on the joints. The task-space control consists in an internal compensator of the dynamics of the mobile manipulator and an external proportional–derivative (PD) control with feed-forwa...

متن کامل

Analysis and control of redundant manipulator dynamics based on an extended operational space

In this paper a new concept, named the Extended Operational Space (EXOS), has been proposed for the effective analysis and the real-time control of the robot manipulators with kinematic redundancy. The EXOS consists of the operational space (OS) and the optimal null space (NS): the operational space is used to describe manipulator endeffector motion; whereas the optimal null space, described by...

متن کامل

Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the ...

متن کامل

ذخیره 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: Transactions of the Society of Instrument and Control Engineers

سال: 1990

ISSN: 0453-4654

DOI: 10.9746/sicetr1965.26.1421