Comments on Manipulability Measure in Redundant Planar Manipulators

2006 ◽  
Author(s):  
Allan de M. Martins ◽  
Anfranserai M. Dias ◽  
Pablo J. Alsina
Keyword(s):  
Planar Manipulators ◽  
Manipulability Measure

scholarly journals Motion Planning for a Mobile Humanoid Manipulator Working in an Industrial Environment

2021 ◽  
Vol 11 (13) ◽  
pp. 6209
Author(s):  
Iwona Pajak ◽  
Grzegorz Pajak
Keyword(s):  
Kinetic Energy ◽  
Collision Avoidance ◽  
Industry 4.0 ◽  
Degrees Of Freedom ◽  
Industrial Environment ◽  
Acceleration Level ◽  
Different Types ◽  
Manipulability Measure ◽  
Robotic Tasks ◽  
Primary Problem

This paper presents the usage of holonomic mobile humanoid manipulators to carry out autonomous tasks in industrial environments, according to the smart factory concept and the Industry 4.0 philosophy. The problem of transporting lengthy objects, taking into account mechanical limitations, the conditions for avoiding collisions, as well as the dexterity of the manipulator arms was considered. The primary problem was divided into three phases, leading to three different types of robotic tasks. In the proposed approach, the pseudoinverse Jacobian method at the acceleration level to solve each of the tasks was used. The redundant degrees of freedom were used to satisfy secondary objectives such as robot kinetic energy, the maximization of the manipulability measure, and the fulfillment mechanical and collision-avoidance limitations. A computer example involving a mobile humanoid manipulator, operating in an industrial environment, illustrated the effectiveness of the proposed method.

Algorithmic Selection of Preferred Grasp Poses using Manipulability Ellipsoid Forms

2021 ◽  
pp. 1-24
Author(s):  
Rajesh Kumar ◽  
Sudipto Mukherjee
Keyword(s):  
Geodesic Distance ◽  
Object Surface ◽  
Kinematic Constraints ◽  
Rolling Contacts ◽  
Manipulability Measure ◽  
Robotic Grasp ◽  
Selection Of

Abstract An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterise the grasp for multi-fingered robotic handling. The methodology can be used to search for the goal grasp pose with a manipulability ellipsoid close to the desired one. The proposed algorithm is modified to perform rolling based relocation under kinematic constraints of the robotic fingertips. The search for the optimal grasp pose and the improvement of the grasp pose by relocation is based on the reduction of the geodesic distance between the current and the target manipulability matrices. The algorithm also derives paths of the fingertip on the object surface in order to achieve the goal pose. An algorithmic option for the process of searching for a suitable grasp configuration is hence achieved.

Acceleration Analysis of Platform-Type Manipulators

1996 ◽  
Author(s):  
Maher G. Mohamed
Keyword(s):  
Stewart Platform ◽  
Algebraic Manipulation ◽  
Analysis Procedure ◽  
Compact Form ◽  
Numerical Examples ◽  
Acceleration Field ◽  
Center Point ◽  
Planar Manipulators ◽  
Acceleration Analysis ◽  
Special Case

Abstract The screw algebra is used to efficiently derive expressions in compact form for both the angular accelerations of the moving links and the linear accelerations of points on the links of platform-type manipulators. The analysis employs the property that the acceleration state of the manipulator platform can be determined by considering the acceleration states of the links of only one — any one — of the manipulator legs. The obtained expressions provide an ease in symbolic and algebraic manipulation. The analysis is then extended to specify the acceleration center point of ithe nstantaneous motion of the manipulator platform. The acceleration center point is then used in expressing the distribution of the acceleration field of the platform instant motion which is important in manipulator synthesis. The special case of planar manipulators is studied and simpler expressions are derived. Numerical examples are presented for the analysis of a 3-DOF planar platform-type and of a 6-DOF spatial “Stewart Platform” manipulators to illustrate the analysis procedure.

Kinematic Singularities of Free-Floating Open-Chain Planar Manipulators

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
J. Rambhaskar
Keyword(s):  
Polynomial Equations ◽  
Joint Angles ◽  
Systematic Method ◽  
Open Chain ◽  
Singular Configurations ◽  
Revolute Joints ◽  
Planar Manipulators ◽  
Fixed Base ◽  
External Forces ◽  
Kinematic Singularities

Abstract This paper deals with Jacobian singularities of free-floating open-chain planar manipulators. The problem, in essence, is to find the joint angles where the Jacobian mapping between the end-effector rates and the joint rates is singular. In the absence of external forces and couples, for free-floating manipulators, the linear and angular momentum are conserved. This makes the singular configurations of free-floating manipulators different from structurally similar fixed-base manipulators. In order to illustrate this idea, we present a systematic method to obtain the singular solutions of a free-floating series-chain planar manipulator with revolute joints. We show that the singular configurations are solutions of simultaneous polynomial equations in the half-tangent of the joint variables. From the structure of these polynomial equations, we estimate the upper bound on the number of singularities of free-floating planar manipulators and compare these with analogous results for structurally similar fixed-base manipulators.

FORCE-UNCONSTRAINED POSES FOR PARALLEL MANIPULATORS WITH REDUNDANT ACTUATED BRANCHES

2005 ◽  
Vol 29 (3) ◽  
pp. 343-356 ◽  
Author(s):  
Flavio Firmani ◽  
Ron P. Podhorodeski
Keyword(s):  
Dimensional Space ◽  
Parallel Manipulators ◽  
End Effector ◽  
Input And Output ◽  
Planar Manipulators ◽  
Order Polynomial ◽  
Prismatic Joints ◽  
Redundantly Actuated ◽  
Actuated Joints ◽  
Planar Parallel Manipulators

A study of the effect of including a redundant actuated branch on the existence of force-unconstrained configurations for a planar parallel layout of joints is presented1. Two methodologies for finding the force-unconstrained poses are described and discussed. The first method involves the differentiation of the nonlinear kinematic constraints of the input and output variables with respect to time. The second method makes use of the reciprocal screws associated with the actuated joints. The force-unconstrained poses of non-redundantly actuated planar parallel manipulators can be mathematically expressed by means of a polynomial in terms of the three variables that define the dimensional space of the planar manipulator, i.e., the location and orientation of the end-effector. The inclusion of redundant actuated branches leads to a system of polynomials, i.e., one additional polynomial for each redundant branch added. Elimination methods are employed to reduce the number of variables by one for every additional polynomial. This leads to a higher order polynomial with fewer variables. The roots of the resulting polynomial describe the force-unconstrained poses of the manipulator. For planar manipulators it is shown that one order of infinity of force-unconstrained configurations is eliminated for every actuated branch, beyond three, added. As an example, the four-branch revolute-prismatic-revolute mechanism (4-RPR), where the prismatic joints are actuated, is presented.

scholarly journals A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Hongzhe Jin ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Decai Yang ◽  
Dongyang Bie ◽  
...  
Keyword(s):  
Real Time ◽  
Null Space ◽  
Inverse Kinematic ◽  
Moving Object ◽  
Redundant Manipulators ◽  
Joint Angles ◽  
The Real ◽  
Time Path ◽  
Planar Manipulators ◽  
Spline Filter

This paper presents a synthetic algorithm for tracking a moving object in a multiple-dynamic obstacles environment based on kinematically planar manipulators. By observing the motions of the object and obstacles, Spline filter associated with polynomial fitting is utilized to predict their moving paths for a period of time in the future. Several feasible paths for the manipulator in Cartesian space can be planned according to the predicted moving paths and the defined feasibility criterion. The shortest one among these feasible paths is selected as the optimized path. Then the real-time path along the optimized path is planned for the manipulator to track the moving object in real-time. To improve the convergence rate of tracking, a virtual controller based on PD controller is designed to adaptively adjust the real-time path. In the process of tracking, the null space of inverse kinematic and the local rotation coordinate method (LRCM) are utilized for the arms and the end-effector to avoid obstacles, respectively. Finally, the moving object in a multiple-dynamic obstacles environment is thus tracked via real-time updating the joint angles of manipulator according to the iterative method. Simulation results show that the proposed algorithm is feasible to track a moving object in a multiple-dynamic obstacles environment.

Sign in / Sign up

Export Citation Format

Share Document