Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation

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Author :
Publisher : Logos Verlag Berlin
ISBN 13 : 9783832513436
Total Pages : 0 pages
Book Rating : 4.5/5 (134 download)

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Book Synopsis Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation by : Yauheni Veryha

Download or read book Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation written by Yauheni Veryha and published by Logos Verlag Berlin. This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many researchers have been doing their best in the last decades to improve such important characteristics of robots as their positioning and orientation accuracy. However, constantly increasing industry demand of achieving high positioning accuracy still requires further research and improvements in this area. Have you ever tried to build the highest one-column tower out of domino blocks? If you imagine that the height of your domino tower is equivalent to the robot end-effector positioning accuracy, then the errors in robot joints can be equivalent to the inaccuracy of placing the domino blocks on the top of your tower. Hence, if the position of the following domino block in the tower can compensate previous mistakes made with other domino blocks, then one can expect that joint errors in robots can also compensate each other if one is able to find appropriate configurations for robot joints. The latter problem was targeted in this book. The general-purpose algorithms and sim ulation frameworks to find optimal configurations of various types of industrial robots are presented. The method for robotic manipulator positioning accuracy improvement using joint error maximum mutual compensation was developed to help engineers to design and implement their robotic systems with the maximum possible positioning and orientation accuracy. Our approach can be widely used on the stages of robot end-effector trajectory planning. In most practical cases, one can observe the improvement of robot end-effector positioning accuracy by ten - fifteen percent and, in extreme cases, by two times and more. Surprisingly, this can be achieved without any additional hardware or measurement equipment.

A New Technique for Compensating Joint Limits in a Robot Manipulator

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Publisher :
ISBN 13 :
Total Pages : 30 pages
Book Rating : 4.:/5 (317 download)

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Book Synopsis A New Technique for Compensating Joint Limits in a Robot Manipulator by :

Download or read book A New Technique for Compensating Joint Limits in a Robot Manipulator written by and published by . This book was released on 1996 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Error Compensation for Industrial Robots

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Publisher : Springer Nature
ISBN 13 : 9811961689
Total Pages : 247 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis Error Compensation for Industrial Robots by : Wenhe Liao

Download or read book Error Compensation for Industrial Robots written by Wenhe Liao and published by Springer Nature. This book was released on 2022-11-29 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.

Robot Manipulator Redundancy Resolution

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Publisher : John Wiley & Sons
ISBN 13 : 1119381428
Total Pages : 321 pages
Book Rating : 4.1/5 (193 download)

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Book Synopsis Robot Manipulator Redundancy Resolution by : Yunong Zhang

Download or read book Robot Manipulator Redundancy Resolution written by Yunong Zhang and published by John Wiley & Sons. This book was released on 2017-09-11 with total page 321 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century. An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems. Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control Introduces The QP-based unification of robots' redundancy resolution Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applications Robot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.

Robot Force Control

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Publisher : Springer Science & Business Media
ISBN 13 : 1461544319
Total Pages : 154 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Robot Force Control by : Bruno Siciliano

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Modelling and Compensation of Positioning Errors in Robotic Machining Systems

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Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (135 download)

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Book Synopsis Modelling and Compensation of Positioning Errors in Robotic Machining Systems by : Jing Liu

Download or read book Modelling and Compensation of Positioning Errors in Robotic Machining Systems written by Jing Liu and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial robots are widely used in manufacturing operations such as drilling, welding, and painting. In recent years, robots have gained significant attraction for aerospace machining (material removal) as well. Compared to conventional CNC machine tools, robots have higher versatility and a lower cost. However, robotic arms suffer from low structural stiffness, which leads to deflection errors under machining loads, as well as vibrations during high speed motions of the arm. To tackle these issues, this thesis presents a systematic framework for the prediction and pre-compensation of positioning errors to improve the accuracy of machining robots. The kinematic and compliance models of a Stäubli RX-90 industrial robot are first formulated mathematically. In the developed model, it is assumed that the links of the robot are rigid, and therefore all flexibilities originate from the joints. A cutting force model is developed to predict the machining forces exerted on the robot's end-effector (i.e. milling tool) during 3-axis milling operations. The predicted forces are combined with the compliance model of the robot to determine the structural deflections during machining. In order to reduce the residual vibrations of the robot in high speed motions, the concept of input shaping is introduced. It is shown that input shaping can distort the reference toolpath, which leads to the deviation of the actual machining path from the desired trajectory, also known as contour error. Finally, a systematic framework is proposed to predict and compensate for positioning errors in robotic machining. The developed model can determine the contour errors caused by both cutting force-induced deflections and input shaping distortions. The model then adjusts the joint commands to compensate for the predicted errors. The entire framework has been programmed in MATLAB, and simulation results prove that the proposed framework can significantly reduce contour errors in robotic machining.

Quasi-static Deflection Compensation Control of Flexible Manipulator

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Publisher :
ISBN 13 :
Total Pages : 148 pages
Book Rating : 4.:/5 (299 download)

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Book Synopsis Quasi-static Deflection Compensation Control of Flexible Manipulator by : Jingbin Feng

Download or read book Quasi-static Deflection Compensation Control of Flexible Manipulator written by Jingbin Feng and published by . This book was released on 1993 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Precise Computer Controlled Positioning of Robot End Effectors Using Force Sensors

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Author :
Publisher : Createspace Independent Publishing Platform
ISBN 13 : 9781722494414
Total Pages : 46 pages
Book Rating : 4.4/5 (944 download)

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Book Synopsis Precise Computer Controlled Positioning of Robot End Effectors Using Force Sensors by : National Aeronautics and Space Administration (NASA)

Download or read book Precise Computer Controlled Positioning of Robot End Effectors Using Force Sensors written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-07-10 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided. Shieh, L. S. and Mcinnis, B. C. and Wang, J. C. Unspecified Center NAG9-211...

Control of Redundant Robot Manipulators

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Publisher : Springer Science & Business Media
ISBN 13 : 9783540250715
Total Pages : 228 pages
Book Rating : 4.2/5 (57 download)

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Book Synopsis Control of Redundant Robot Manipulators by : Rajni V. Patel

Download or read book Control of Redundant Robot Manipulators written by Rajni V. Patel and published by Springer Science & Business Media. This book was released on 2005-05-04 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Fundamentals of Manipulator Calibration

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Publisher : Wiley-Interscience
ISBN 13 :
Total Pages : 360 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Fundamentals of Manipulator Calibration by : Benjamin W. Mooring

Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.

Dynamic Decoupling of Robot Manipulators

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Publisher : Springer
ISBN 13 : 3319743635
Total Pages : 193 pages
Book Rating : 4.3/5 (197 download)

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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.

A New Technique for Compensating Joint Limits in a Robot Manipulator

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Author :
Publisher : Createspace Independent Publishing Platform
ISBN 13 : 9781722011147
Total Pages : 26 pages
Book Rating : 4.0/5 (111 download)

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Book Synopsis A New Technique for Compensating Joint Limits in a Robot Manipulator by : National Aeronautics and Space Administration (NASA)

Download or read book A New Technique for Compensating Joint Limits in a Robot Manipulator written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-06-28 with total page 26 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory. Litt, Jonathan and Hickman, Andre and Guo, Ten-Huei Glenn Research Center RTOP 505-62-50; DA Proj. 1L1-61102-AH-45...

Hybrid Force/position Control in the Robot Tool Space

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Publisher :
ISBN 13 :
Total Pages : 280 pages
Book Rating : 4.3/5 (129 download)

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Book Synopsis Hybrid Force/position Control in the Robot Tool Space by : Amit Yogesh Goradia

Download or read book Hybrid Force/position Control in the Robot Tool Space written by Amit Yogesh Goradia and published by . This book was released on 2001 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt:

A New Technique for Compensating Joint Limits in a Robot Manipulator

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Publisher :
ISBN 13 :
Total Pages : 24 pages
Book Rating : 4.:/5 (227 download)

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Book Synopsis A New Technique for Compensating Joint Limits in a Robot Manipulator by : Jonathan Litt

Download or read book A New Technique for Compensating Joint Limits in a Robot Manipulator written by Jonathan Litt and published by . This book was released on 1996 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new robust, optimal, adaptive technique for compensating rate and position limits in the joints of a six degree-of-freedom elbow manipulator is presented. In this new algorithm, the unmet demand as a result of actuator saturation is redistributed among the remaining unsaturated joints. The scheme is used to compensate for inadequate path planning, problems such as joint limiting, joint freezing, or even obstacle avoidance, where a desired position and orientation are not attainable due to an unrealizable joint command. Once a joint encounters a limit, supplemental commands are sent to other joints to best track, according to a selected criterion, the desired trajectory.

Adaptive Position/force Control and Calibration of Robotic Manipulators as Applied to Automated Composite Tape-laying

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Publisher :
ISBN 13 :
Total Pages : 344 pages
Book Rating : 4.:/5 (89 download)

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Book Synopsis Adaptive Position/force Control and Calibration of Robotic Manipulators as Applied to Automated Composite Tape-laying by : Yixin Yao

Download or read book Adaptive Position/force Control and Calibration of Robotic Manipulators as Applied to Automated Composite Tape-laying written by Yixin Yao and published by . This book was released on 1988 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robot Position Sensor Fault Tolerance

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Publisher :
ISBN 13 :
Total Pages : 180 pages
Book Rating : 4.:/5 (317 download)

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Book Synopsis Robot Position Sensor Fault Tolerance by : Hal A. Aldridge

Download or read book Robot Position Sensor Fault Tolerance written by Hal A. Aldridge and published by . This book was released on 1997 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Force and Position Control of Robot Manipulators

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Publisher :
ISBN 13 :
Total Pages : 318 pages
Book Rating : 4.:/5 (33 download)

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Book Synopsis Force and Position Control of Robot Manipulators by : Doyoung Jeon

Download or read book Force and Position Control of Robot Manipulators written by Doyoung Jeon and published by . This book was released on 1991 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: