Control of Redundant Robot Manipulators: Theory and Experiments

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Springer Science & Business Media, May 4, 2005 - Technology & Engineering - 205 pages
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This monograph provides a comprehensive and thorough treatment of the problem of controlling a redundant robot manipulator. It presents the latest research from the field with a good balance between theory and practice. All theoretical developments are verified both via simulation and experimental work on an actual prototype redundant robot manipulator. This book is the first text aimed at graduate students and researchers working in the area of redundant manipulators giving a comprehensive coverage of control of redundant robot manipulators from the viewpoint of theory and experimentation.

 

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Contents

Introduction
1
11 Objectives of the Monograph
2
12 Monograph Outline
3
Redundant Manipulators Kinematic Analysis and Redundancy Resolution
7
22 Kinematic Analysis of Redundant Manipulators
8
23 Redundancy Resolution
9
231 Redundancy Resolution at the Velocity Level
10
2312 Approximate Solution
13
43 Schemes for Compliant and Force Control of Redundant Manipulators
89
431 Configuration Control at the Acceleration Level
91
432 Augmented Hybrid Impedance Control using the Computed Torque Algorithm
92
4322 Innerloop
94
433 Augmented Hybrid Impedance Control with SelfMotion Stabilization
102
4332 InnerLoop Design
104
4333 Simulation Results for a 3DOF Planar Arm
107
434 Adaptive Augmented Hybrid Impedance Control
108

2313 Configuration Control
15
2314 Configuration Control Alternatives for Additional Tasks
16
232 Redundancy Resolution at the Acceleration Level
18
24 Analytic Expression for Additional Tasks
20
2411 Definition of Terms and Feasibility Analysis
21
2412 Description of the Algorithms
23
Optimization Constraint
24
2415 Performance Evaluation and Comparison
25
242 Static and Moving Obstacle Collision Avoidance
28
243 Posture Optimization Task Compatibility
31
25 Conclusions
32
Collision Avoidance for a 7DOF Redundant Manipulator
35
32 PrimitiveBased Collision Avoidance
37
321 CylinderCylinder Collision Detection
38
3211 Review of Line Geometry and Dual Vectors
39
322 CylinderSphere Collision Detection
49
323 SphereSphere Collision Detection
50
33 Kinematic Simulation for a 7DOF Redundant Manipulator
51
331 Kinematics of REDIESTRO
52
332 Main Task Tracking
53
3322 Orientation Tracking
54
333 Additional Tasks
61
3331 Joint Limit Avoidance
62
34 Experimental Evaluation using a 7DOF Redundant Manipulator
69
341 Hardware Demonstration
70
Collision Avoidance with Stationary Spherical Objects
71
Passing Through a Triangular Opening
73
Contact Force and Compliant Motion Control
79
42 Literature Review
81
422 Compliant Motion Control
85
4342 InnerLoop Design
109
4343 Simulation Results for a 3DOF Planar Arm
113
44 Conclusions
116
Augmented Hybrid Impedance Control for a 7DOF Redundant Manipulator
119
521 Task Planner and Trajectory Generator TG
120
523 Redundancy Resolution RR module
122
524 Forward Kinematics
124
525 Linear Decoupling Inverse Dynamics Controller
126
54 Simulation Study
130
542 Description of the sources of performance degradation
131
5421 Kinematic instability due to resolving redundancy at the acceleration level
132
5422 Performance degradation due to the modelbased part of the controller
135
543 Modified AHIC Scheme
139
55 Conclusions
144
Experimental Results for Contact Force and Compliant Motion Control
147
62 Preparation and Conduct of the Experiments
148
6211 Stability Analysis
149
6212 Impedancecontrolled Axis
150
622 Selection of PD Gains
158
623 Selection of the Force Filter
159
63 Numerical Results for Strawman Tasks
162
631 Strawman Task I Surface Cleaning
163
632 Strawman Task II Peg In The Hole
166
64 Conclusions
175
Concluding Remarks
179
Kinematic and Dynamic Parameters of REDIESTRO
185
Trajectory Generation Special Consideration for Orientation
189
References
193
Index
203
Copyright

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Page 196 - H. Kazerooni, TB Sheridan, and PK Houpt, "Robust Compliant Motion for Manipulators, Part I: The Fundamental Concepts of Compliant Motion; Part II: Design Method," IEEE Journal of Robotics and Automation, Vol.
Page 200 - Local Versus Global Torque Optimization of Redundant Manipulators", Proc. IEEE Int. Conf. on Robotics and Automation, Raleigh, NC, March, 1987, pp.
Page 198 - Improved Configuration Control for Redundant Robots", Journal of Robotic Systems, Vol. 7, No. 6, 1990, pp. 897-928 25.
Page 198 - Configuration Control of Redundant Manipulators: Theory and Implementation", IEEE Transactions on Robotics and Automation, Vol. 5, No. 4, 1989, pp.

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