Collision-free control of robotic manipulators in the task space

2005 ◽  
Vol 22 (8) ◽  
pp. 439-455 ◽  
Author(s):  
Mirosław Galicki
Keyword(s):  
Robotic Manipulators ◽  
Task Space

Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements

2016 ◽  
Vol 46 (10) ◽  
pp. 2386-2398 ◽  
Author(s):  
Xinwu Liang ◽  
Hesheng Wang ◽  
Yun-Hui Liu ◽  
Weidong Chen ◽  
Guoqiang Hu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Space Velocity ◽  
Robotic Manipulators ◽  
Task Space ◽  
Velocity Measurements ◽  
Cooperative Tracking

A new dynamic manipulability ellipsoid for redundant manipulators

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 381-387 ◽  
Author(s):  
Pasquale Chiacchio
Keyword(s):  
Case Studies ◽  
Robotic Manipulators ◽  
Redundant Manipulators ◽  
Task Space ◽  
End Effector ◽  
Space Analysis ◽  
Singular Configurations ◽  
Definition Of

Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-space accelerations. The case of manipulators in singular configurations is also analyzed. Two case studies are presented to illustrate the correctness of the proposed approach.

Controlled Synchronization of Robotic Manipulators in the Task Space

2009 ◽  
Author(s):  
YenChen Liu ◽  
Nikhil Chopra
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Robotic Manipulators ◽  
Joint Space ◽  
Task Space ◽  
Numerical Example ◽  
Redundant Robots ◽  
Control Schemes ◽  
Heterogeneous Robots ◽  
Dynamic Uncertainties

Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.

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