PROGRAM MOTION OF UNLOADING MANIPULATORS

Near-Minimum-Time Motion Planning of Manipulators along Specified Path

The large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. Most of this computational burden is due to calculation of switching points. In this paper a learning algorithm is proposed for finding the switching points. The method, which can be used for both ...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Motion Control of Robot Manipulators

near-minimum-time motion planning of manipulators along specified path

the large amount of computation necessary for obtaining time optimal solution for moving a manipulator on specified path has made it impossible to introduce an on line time optimal control algorithm. most of this computational burden is due to calculation of switching points. in this paper a learning algorithm is proposed for finding the switching points. the method, which can be used for both ...

Dynamics of Internal Motion of Redundant Manipulators

In the paper the dynamic properties of the internal motion of redundant manipulators are considered. The motion is decoupled into the end-effector motion and the internal motion. Next, the dynamic model of a redundant manipulator is derived. A special attention is given to the inertial properties of the system in the space where internal motion is taking place; we define a null space effective ...