Cartesian coordinate control for redundant modular robots
نویسندگان
چکیده
This paper is focused on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algorithms are proposed for Cartesian space (task space) control of redundant modular robots. The effectiveness of the proposed algorithms has been experimentally demonstrated by a 7-DOF serial modular robot that performs pick-and-place task with the avoidance of joint angle limits.
منابع مشابه
Modular Hybrid Robots for Safe Human-Robot Interaction
The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in th...
متن کاملFeature Cost effective robotics in the nuclear industry
Purpose – Aims to clarify the use of “nuclear” robots with special reference to one UK contractor (Magnox) and the cost-effectiveness of its decommissioning programme. Design/methodology/approach – Goes through the protocol of the use of robots in the disposal of contaminated scrap. Findings – Justifies the use of a built-to-order modular linear (Cartesian) robot system required by Magnox. Orig...
متن کاملThe 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 کاملCartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms
This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...
متن کامل