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Singularity Free Dynamics Modeling And Control Of Parallel Manipulators With Actuation Redundancy
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Book Synopsis Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy by : Andreas Müller
Download or read book Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy written by Andreas Müller and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Serial and Parallel Robot Manipulators by : Serdar Küçük
Download or read book Serial and Parallel Robot Manipulators written by Serdar Küçük and published by BoD – Books on Demand. This book was released on 2012-03-30 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotics is an important part of modern engineering and is related to a group of branches such as electric
Book Synopsis Dynamics and Control of Parallel Manipulators with Actuation Redundancy by :
Download or read book Dynamics and Control of Parallel Manipulators with Actuation Redundancy written by and published by . This book was released on with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: HKUST Call Number: Thesis ELEC 2001 ChengH.
Book Synopsis Robot Manipulators by : Etienne Dombre
Download or read book Robot Manipulators written by Etienne Dombre and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Book Synopsis Internal Redundancy by : Soheil S. Parsa
Download or read book Internal Redundancy written by Soheil S. Parsa and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Redundancy in parallel manipulators occurs when the number of active joints is greater than the total degrees of freedom of the manipulator. Redundancy in parallel manipulators has been discussed for the cases of kinematic, actuation, and branch redundancy. Some advantages of these redundant manipulators include the reduction or elimination of some types of kinematic singularities and/ or an increase of their reachable and dexterous workspaces, to name a few. Internal redundancy, first introduced for serial manipulators, refers to the concept of adding redundant masses to some links so as to allow of control the centre of mass and other dynamic properties of some links. This concept has also been referred to as variable geometry. This work investigates the effects of internal redundancy in two different applications. Firstly, the effect of the internal redundancy is studied on the dynamic properties of a planar parallel manipulator while performing a family of trajectories. More specifically, this research investigates the possibility of following a desired trajectory that contains direct kinematic singularity configurations using internal redundancy in parallel manipulators. To illustrate the concept, internal redundancy is first applied to a 2-RPR planar parallel manipulator by adding a redundant mass to each of its two branches. The dynamic model of this internally redundant manipulator is developed using the principle of virtual work. The model is then used to compute the required displacement, velocity, and acceleration of the redundant masses over time as to allow the manipulator to successfully cross singular configurations. Secondly, the 3- RRR planar manipulator, where a redundant mass has been added to the distal link, is allowed to trace trajectories with rounded corners of different radii. The proposed method uses the manipulator's dynamic model to actively optimise the location of the redundant masses at every point along the trajectory to improve the dynamic performance of the manipulator. Numerical examples are presented to support the idea."--Pages ii-iii.
Book Synopsis Kinematics, Dynamics and Control of High Precision Parallel Manipulators by : Wing-Fung Jacob Cheung
Download or read book Kinematics, Dynamics and Control of High Precision Parallel Manipulators written by Wing-Fung Jacob Cheung and published by . This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Kinematics, Dynamics and Control of High Precision Parallel Manipulators" by Wing-fung, Jacob, Cheung, 張穎鋒, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. Abstract: Abstracts of thesis entitled Kinematics, Dynamics and Control of High Precision Parallel Manipulators Submitted by Cheung Wing Fung Jacob for the degree of Doctor of Philosophy at The University of Hong Kong in March 2007 End-point positioning accuracy, fast point-to-point motion travel and stable operation are essential in high-precision motion mechanisms for industrial applications such as semiconductor packaging. In this thesis, a high-precision 2-DOF planar parallel manipulator and a 4-DOF spatial parallel manipulator are developed to advance the motion capabilities of traditional XY table and overcome difficulties in the kinematics design and end-point positioning accuracy of existing parallel manipulators. Novel methods of kinematics design and optimization, dynamic modelling and advanced control strategies are integrated in a complete design of the proposed manipulators to achieve high-speed positioning of the end-effector to an accuracy of micrometer unit. Modular design approaches are developed for designing the kinematics structure of the proposed parallel manipulators. In this design process, consideration is given to ensuring that the kinematics design can be realized to the required tolerance using existing mechanical construction technology. A Monte-Carlo simulation method is developed to determine the workspace of the parallel manipulator, and a Jacobian decoupling approach is developed to verify that the workspace of the manipulator is free of internal singularity. Kinematics optimization is performed to suppress the kinematics error magnification effect so that the end-effector positioning accuracy matches the manufacturing tolerance of the linkages. A dynamic model is essential for motion analysis, capability estimation and controller design of the parallel manipulator. The derivation of the dynamic model is simplified using a nested approach whereby the 4-DOF parallel manipulator is decomposed into triangular mechanisms at the actuator level and at the end-effector level, resulting in a high degree of decoupling in the modelling process. Recursive Newton-Euler method is employed to determine the dynamic model. The response of the dynamic model is simulated using sinusoidal force profiles to drive the linear actuators of the manipulator. The results obtained from the kinematics design, optimization and dynamic modelling are used to develop prototypes of the planar and 4-DOF parallel manipulators for the purpose of experimentation. A traditional PID computed-torque controller is first designed for the 2-DOF planar and the 4-DOF parallel manipulators using a model-based approach. In view of the limitations of the computed-torque control method, a robust learning control method is developed to enhance the motion performance by minimizing the settling time and steady-state error of the parallel manipulators. A frequency-domain system identification approach is used to identify the high frequency dynamics of the manipulator. A robust control design method is employed to design a stable, fast tracking-response feedback controller with less sensitivity to high frequency disturbance, with the control parameters determined using genetic algorithm. A Fourier-series based iterative learning controller is added to the feedforward path of the controller to improve the settling time by reducing the dynamic tracking
Book Synopsis Redundant Actuation of Parallel Manipulators by : Andreas Mueller
Download or read book Redundant Actuation of Parallel Manipulators written by Andreas Mueller and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter the dynamics modeling of redundantly actuated PKM is reviewed, and the redundancy resolution is addressed. The resolution takes into account different secondary tasks, such as backlash avoidance and stiffness control. It was aimed to point out the potential of redundant actuation, but also the challenges that need to be addressed. In this contribution the effect of kinematic parameter uncertainties on the control of redundantly actuated PKM is analyzed. It is shown how geometric uncertainties effect the control system. The application of standard model-based control schemes to redundantly actuated PKM is shown not only to change the control system, but also to change the way in which control forces act upon the system. A consequence thereof is that the perturbation forces, due geometric uncertainties, can not be compensated by the actuation. To overcome these effects, an amended augmented PD and computed torque control scheme for redundantly actuated PKM is introduced. This is a first step that at least ensures the applicability of the control schemes. It shall be clear that robust control of uncertain redundantly actuated PKM is a critical issue for redundant PKM.
Book Synopsis Parallel Manipulators by : Jee-Hwan Ryu
Download or read book Parallel Manipulators written by Jee-Hwan Ryu and published by BoD – Books on Demand. This book was released on 2008-04-01 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel manipulators are characterized as having closed-loop kinematic chains. Compared to serial manipulators, which have open-ended structure, parallel manipulators have many advantages in terms of accuracy, rigidity and ability to manipulate heavy loads. Therefore, they have been getting many attentions in astronomy to flight simulators and especially in machine-tool industries.The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in parallel manipulators. This book mainly introduces advanced kinematic and dynamic analysis methods and cutting edge control technologies for parallel manipulators. Even though this book only contains several samples of research activities on parallel manipulators, I believe this book can give an idea to the reader about what has been done in the field recently, and what kind of open problems are in this area.
Book Synopsis Singularity Analysis and Redundant Actuation of Parallel Manipulators by : Vincent K. Chan
Download or read book Singularity Analysis and Redundant Actuation of Parallel Manipulators written by Vincent K. Chan and published by . This book was released on 2001 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy by : Andreas Mueller
Download or read book Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy written by Andreas Mueller and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Kinematic Control of Redundant Robot Arms Using Neural Networks by : Shuai Li
Download or read book Kinematic Control of Redundant Robot Arms Using Neural Networks written by Shuai Li and published by John Wiley & Sons. This book was released on 2019-02-12 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.
Book Synopsis Robot Dynamics And Control by : Mark W Spong
Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Book Synopsis Performance Analysis and Optimization of Parallel Manipulators by : Qinchuan Li
Download or read book Performance Analysis and Optimization of Parallel Manipulators written by Qinchuan Li and published by Springer Nature. This book was released on 2023-07-04 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates the performance analysis and optimization design of parallel manipulators in detail. It discusses performance evaluation indices for workspace, kinematic, stiffness, and dynamic performance, single- and multi-objective optimization design methods, and ways to improve optimization design efficiency of parallel manipulators. This book collects the authors’ research results previously scattered in many journals and conference proceedings and presents them in a unified form after the methodical edition. As a result, numerous performance analyses and optimization of parallel manipulators are presented, in which the readers in the robotics community may be greatly interested. More importantly, readers can use the methods and tools introduced in this book to carry out performance evaluation and optimization of parallel manipulators by themselves. The book can provide important reference and guideline for undergraduate and graduate students, engineers, and researchers who are interested in design and application of parallel manipulators.
Book Synopsis Advances in Robot Kinematics 2018 by : Jadran Lenarcic
Download or read book Advances in Robot Kinematics 2018 written by Jadran Lenarcic and published by Springer. This book was released on 2018-06-22 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is the proceedings of ARK 2018, the 16th International Symposium on Advances in Robot Kinematics, that was organized by the Group of Robotics, Automation and Biomechanics (GRAB) from the University of Bologna, Italy. ARK are international symposia of the highest level organized every two years since 1988. ARK provides a forum for researchers working in robot kinematics and stimulates new directions of research by forging links between robot kinematics and other areas.The main topics of the symposium of 2018 were: kinematic analysis of robots, robot modeling and simulation, kinematic design of robots, kinematics in robot control, theories and methods in kinematics, singularity analysis, kinematic problems in parallel robots, redundant robots, cable robots, over-constrained linkages, kinematics in biological systems, humanoid robots and humanoid subsystems.
Book Synopsis Dynamic Decoupling of Robot Manipulators by : Vigen Arakelian
Download or read book Dynamic Decoupling of Robot Manipulators written by Vigen Arakelian and published by Springer. This book was released on 2018-02-20 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the latest results in the field of dynamic decoupling of robot manipulators obtained in France, Russia, China and Austria. Manipulator dynamics can be highly coupled and nonlinear. The complicated dynamics result from varying inertia, interactions between the different joints, and nonlinear forces such as Coriolis and centrifugal forces. The dynamic decoupling of robot manipulators allows one to obtain a linear system, i.e. single-input and single output system with constant parameters. This simplifies the optimal control and accumulation of energy in manipulators. There are two ways to create the dynamically decoupled manipulators: via optimal mechanical design or control. This work emphasises mechatronic solutions. These will certainly improve the known design concepts permitting the dynamic decoupling of serial manipulators with a relatively small increase in total mass of the moving links taking into account the changing payload. For the first time such an approach has been applied on serial manipulators. Also of great interest is the dynamic decoupling control of parallel manipulators. Firstly, the dynamic model of redundant multi-axial vibration table with load has been established, and, secondly, its dynamic coupling characteristics have been analyzed. The discussed methods and applications of dynamic decoupling of robot manipulators are illustrated via CAD simulations and experimental tests.
Book Synopsis Robot Analysis and Control by : H. Asada
Download or read book Robot Analysis and Control written by H. Asada and published by John Wiley & Sons. This book was released on 1991-01-16 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
Book Synopsis Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators by : Jonatan Martin Escorcia Hernandez
Download or read book Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators written by Jonatan Martin Escorcia Hernandez and published by Elsevier. This book was released on 2022-11-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. The book's content will benefit students, researchers and engineers in robotics by providing a simplified methodology to obtain the dynamic model of parallel robots with a delta-type architecture. Moreover, this methodology is compatible with the real-time implementation of model-based and robust control schemes. And, it can easily extend the proposed robust control solutions to other robotic architectures. Introduces a novel parallel robot designed for machining operations called SPIDER4 Presents a mathematical formulation of the kinematic and dynamic models of SPIDER4 Offers validation of the computed mathematical models and designed controllers through real-time experiments under different operating conditions
