Parallel VLSI architectures for real-time kinematics of redundant robots
نویسندگان
چکیده
منابع مشابه
The Direct Kinematics for Path Control of Redundant Parallel Robots
The parallel robots seem to be one of the promising ways to improve accuracy and speed. At their development some new problems appear. This paper deals with design of direct kinematics for real-time path control of planar redundant parallel robots. The main reason for its using is a fact that the direct kinematics gives possibility to use Cartesian coordinates as against joint ones and by this ...
متن کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملReal-time Simulation and Visualization of High-level Model-based Control of Redundant Parallel Robots
The paper briefly introduces examples of high-level model-based control ( Sliding Mode Control – SMC and Generalized Predictive Control – GPC ) applied to the redundant parallel robots. The objective is a presentation of using MATLAB – SIMULINK environment for real-time simulation and visualization of control of these robots. Implementation is accomplished by combination of C MEX S-Functions an...
متن کاملAdvanced Control for Redundant Parallel Robots
One of the trends in robotics is a study of parallel structures and their control, lending, in some situation, to control of systems with more inputs than outputs (over-actuated, drive-redundant systems). The simples control approach considered means taking the robots as a set of single input-output systems (setSISO); decentralized control design. As an auspicious alternative is model-based app...
متن کاملAn Analytical Method for the Inverse Kinematics of Redundant Robots
This paper presents a new method for symbolic solving the inverse kinematics problem of robotic systems with high degree of kinematical redundancy in a closed form. The key idea is to extend the basic redundant kinematics chain with imaginary links, which limit and adapt the robots flexibility to an actual work space and/or end-effector motion. Two examples are given to demonstrate the advantag...
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: 1994
ISSN: 0921-0296,1573-0409
DOI: 10.1007/bf01258312