Robust nonlinear task space control for 6 DOF parallel manipulator

Automatica ◽  
2005 ◽  
Vol 41 (9) ◽  
pp. 1591-1600 ◽  
Author(s):  
Hag Seong Kim ◽  
Young Man Cho ◽  
Kyo-II Lee
Keyword(s):  
Parallel Manipulator ◽  
Task Space ◽  
Task Space Control

Recursive field estimation and tracking for autonomous manipulation

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 743-753 ◽  
Author(s):  
Soo Jeon
Keyword(s):  
Radial Basis Function Network ◽  
Least Square Method ◽  
Least Square ◽  
Source Tracking ◽  
Control Law ◽  
Task Space ◽  
Recursive Least Square ◽  
Wide Range ◽  
Field Estimation ◽  
Task Space Control

SUMMARYAutonomous operation of mechanical systems often requires the ability to detect and locate a particular phenomenon occurring in the surrounding environment. Being implemented to articulated manipulation, such a capability may realize a wide range of applications in autonomous maintenance and repair. This paper presents the sensor-driven task space control of an end-effector that combines the field estimation and the target tracking in an unknown spatial field of interest. The radial basis function network is adopted to model spatial distribution of an environmental phenomenon as a scalar field. Their weight parameters are estimated by a recursive least square method using collective measurements from the on-board sensors mounted to the manipulator. Then the asymptotic source tracking has been achieved by the control law based on the gradient of the estimated field. A new singularity tolerant scheme has been suggested to command the task space control law despite singular configurations. Simulation results using the three-link planar robot and the 6-revolute elbow manipulator are presented to validate the main ideas.

Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach

2020 ◽  
Vol 5 (2) ◽  
pp. 752-759
Author(s):  
Donghyeon Lee ◽  
Woongyong Lee ◽  
Jonghoon Park ◽  
Wan Kyun Chung
Keyword(s):  
Forward Dynamics ◽  
Task Space ◽  
Kinematic Singularity ◽  
Task Space Control ◽  
Articulated Robot

scholarly journals Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors

10.5772/51742 ◽  
2012 ◽  
Vol 9 (4) ◽  
pp. 156 ◽  
Author(s):  
Ahmad Zaki bin Hj Shukor ◽  
Yasutaka Fujimoto
Keyword(s):  
Task Space ◽  
Task Space Control

Task space control of a welding robot using a fuzzy coordinator

2010 ◽  
Vol 8 (3) ◽  
pp. 574-582 ◽  
Author(s):  
Mohammad Mehdi Fateh ◽  
Shahab Shahrabi Farahani ◽  
Arash Khatamianfar
Keyword(s):  
Task Space ◽  
Welding Robot ◽  
Task Space Control
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