tailieunhanh - Control of Redundant Robot Manipulators - R.V. Patel and F. Shadpey Part 2

Tham khảo tài liệu 'control of redundant robot manipulators - . patel and f. shadpey part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Monograph Outline 5 detail. Simulations on a 3-DOF planar arm are carried out to evaluate their performance. Chapter 5 Augmented Hybrid Impedance Control for a 7-DOF redundant manipulator In this chapter extension of the AHIC scheme to the 3D workspace of REDIESTRO is discussed. Different modules involved in the controller are described. The first step is to extend the algorithm developed in Chapter 4 for the 2D workspace of a 3-DOF planar arm to the 3D workspace of a 7-DOF arm. New issues such as orientation and torque control are discussed. Considering the large amount of computation involved in the controller and the limited processing power available the next step is to develop control software which is optimized both at the algorithm and code levels. A stability analysis and a trade-off study are performed using a realistic model of the arm and its hardware accessories. Potential sources of problems are identified. These are categorized into two different groups Kinematic instability due to resolving redundancy at the acceleration level and lack of robustness with respect to the manipulator s dynamic parameters. These problems are successfully resolved by modification of the AHIC scheme. Chapter 6 Experimental results for Contact Force and Compliant motion Control The goal of this Chapter is to demonstrate and evaluate the feasibility and performance of the proposed scheme by hardware demonstrations using REDIESTRO. The first section describes the hardware of the arm . actuators sensors etc. and the control hardware VME based controller I O interface etc. . The second section introduces the different software modules involved in the operation their role and the communication between different platforms. Before performing the final experimental demonstrations a detailed analysis is given to provide guidelines in the selection of the desired impedances. A heuristic approach is presented which enables the user to systematically select the impedance .