Normal Forms and Configuration Singularities of a Space Manipulator
نویسندگان
چکیده
منابع مشابه
Manipulator control using the configuration space method
The throughput of a manipulation process depends upon the arm's speed of operation, but many existing controllers provide accurate trajectory control only at low or moderate velocities. We propose a control method that explicitly compensates for configuration-dependent gravity, acceleration, and velocity forces the latter being especially important during rapid simultaneous motions of a number ...
متن کاملNormal forms of Hopf Singularities: Focus Values Along with some Applications in Physics
This paper aims to introduce the original ideas of normal form theory and bifurcation analysis and control of small amplitude limit cycles in a non-technical terms so that it would be comprehensible to wide ranges of Persian speaking engineers and physicists. The history of normal form goes back to more than one hundreds ago, that is to the original ideas coming from Henry Poincare. This tool p...
متن کاملEnumeration and Normal Forms for Singularities in Cauchy-Riemann Structures
Starting on the next page is the 16-page Chapter II excerpted from my dissertation, “Enumeration and Normal Forms for Singularities in CauchyRiemann Structures,” 1997, University of Chicago. I have made a few minor editorial modifications so that Chapter II can be read without referring to the other Chapters. Section 5 of Chapter II is a summary of results appearing in my unpublished lecture no...
متن کاملSingularities of a Manipulator with Offset Wrist
The singularities of manipulators with offset wrists are difficult to enumerate. This article presents a numerical study to illuminate singularity problems when using an offset wrist with an articulated regional arm. Ironically, the regional manipulator singularity problem is worsened when using a singularity-free offset wrist. No wrist singularities exist (they are forced by design to lie outs...
متن کاملNormal Forms for Symplectic Maps with Twist Singularities
We derive a normal form for a near-integrable, four-dimensional symplectic map with a fold or cusp singularity in its frequency mapping. The normal form is obtained for when the frequency is near a resonance and the mapping is approximately given by the time-T mapping of a two-degree-of freedom Hamiltonian flow. Consequently there is an energy-like invariant. The fold Hamiltonian is similar to ...
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 Intelligent & Robotic Systems
سال: 2018
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-018-0883-8