A Comparison of Control Algorithms for Redundant Manipulators from Viewpoint of Collision Forces
نویسنده
چکیده
In the paper some control algorithms for redundant manipulators are compared from the viewpoint of the behaviour of the system during the collision with an obstacle. The emphasis is given to the contact forces and their minimization, and how they can utilize the self-motion caused by the contact forces to avoid the obstacles and to minimize the tracking errors in the task space. A controller which ensures stiff behaviour in the task space and compliant behaviour in the null space has turned out to be the best solution. The efficiency of the particular control algorithms is illustrated the experiments on a four link planar manipulator.
منابع مشابه
همکاری رباتها در جابجایی جسم نامعین توسط کنترلر امپدانسچندگانه
Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...
متن کاملObstacle Avoidance Control for Redundant Manipulators Utilizing the Contact Forces
The paper considers the behavior of redundant manipulators which collide with an obstacle and the obstacle avoidance after the collision. Without changing the motion of the end-effector, the reconfiguration of the manipulator into a collision-free configuration can be done only by utilizing the self-motion of the manipulator. In the paper some motion controllers are analyzed which minimize the ...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملInverse Kinematics Resolution of Redundant Cooperative Manipulators Using Optimal Control Theory
The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...
متن کاملInterval Analysis of Controllable Workspace for Cable Robots
Workspace analysis is one of the most important issues in the robotic parallel manipulator design. However, the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...
متن کامل