Repetitive Motion Planning and Control on Redundant Robot Manipulators With Push-Rod-Type Joints

2012 ◽  
Vol 135 (2) ◽  
Author(s):  
Z. Zhang ◽  
Y. Zhang
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Quadratic Program ◽  
Error Feedback ◽  
Repetitive Motion ◽  
Six Degrees Of Freedom ◽  
Planning And Control ◽  
Joint Velocity ◽  
And Control ◽  
Joint Limit

To demonstrate the hardware realizability and efficacy of the quadratic program (QP) based methods for solving the nonrepetitive problem, this paper proposes a novel repetitive motion planning and control (RMPC) scheme and realizes this scheme on a physical planar six degrees-of-freedom (DOF) push-rod-joint (PRJ) manipulator. To control the PRJ manipulator, this scheme considers variable joint-velocity limits and joint-limit margins. In addition, to decrease the errors, this scheme considers the position-error feedback. Then, the scheme is reformulated as a QP problem. Due to control of the digital computer, a discrete-time QP solver is presented to solve the QP problem. For comparison, both of the nonrepetitive and repetitive motions are performed on the manipulator to track square and B-shaped paths. Experimental results validate the physical realizability and effectiveness of the RMPC scheme.

Tri-Criteria Optimization Motion Planning at Acceleration-Level of Dual Redundant Manipulators

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 983-999
Author(s):  
Zhaoli Jia ◽  
Siyuan Chen ◽  
Zhijun Zhang ◽  
Nan Zhong ◽  
Pengchao Zhang ◽  
...  
Keyword(s):  
Motion Planning ◽  
Joint Angle ◽  
Weighting Factor ◽  
Quadratic Program ◽  
Redundant Manipulators ◽  
Repetitive Motion ◽  
Acceleration Level ◽  
Primal Dual ◽  
Joint Velocity ◽  
Joint Acceleration

SUMMARYIn order to solve joint-angle drift problem of dual redundant manipulators at acceleration-level, an acceleration-level tri-criteria optimization motion planning (ALTC-OMP) scheme is proposed, which combines the minimum acceleration norm, repetitive motion planning, and infinity-norm acceleration minimization solutions via weighting factor. This scheme can resolve the joint-angle drift problem of dual redundant manipulators which will arise in single criteria or bi-criteria scheme. In addition, the proposed scheme considers joint-velocity joint-acceleration physical limits. The proposed scheme can not only guarantee joint-velocity and joint-acceleration within their physical limits, but also ensure that final joint-velocity and joint-acceleration are near to zero. This scheme is realized by dual redundant manipulators which consist of left and right manipulators. In order to ensure the coordinated operation of manipulators, two motion planning problems are reformulated as two general quadratic program (QP) problems and further unified into one standard QP problem, which is solved by a simplified linear-variational-inequalities-based primal-dual neural network at the acceleration-level. Computer-simulation results based on dual PUMA560 redundant manipulators further demonstrate the effectiveness and feasibility of the proposed ALTC-OMP scheme to resolve joint-angle drift problem arising in the dual redundant manipulators.

Bi-criteria minimization with MWVN–INAM type for motion planning and control of redundant robot manipulators

Robotica ◽  
2018 ◽  
Vol 36 (5) ◽  
pp. 655-675 ◽  
Author(s):  
Dongsheng Guo ◽  
Kene Li ◽  
Bolin Liao
Keyword(s):  
Motion Planning ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Redundancy Resolution ◽  
Redundant Robot ◽  
Planning And Control ◽  
New Type ◽  
Joint Velocity ◽  
And Control ◽  
Joint Acceleration

SUMMARYThis study proposes and investigates a new type of bi-criteria minimization (BCM) for the motion planning and control of redundant robot manipulators to address the discontinuity problem in the infinity-norm acceleration minimization (INAM) scheme and to guarantee the final joint velocity of motion to be approximate to zero. This new type is based on the combination of minimum weighted velocity norm (MWVN) and INAM criteria, and thus is called the MWVN–INAM–BCM scheme. In formulating such a scheme, joint-angle, joint-velocity, and joint-acceleration limits are incorporated. The proposed MWVN–INAM–BCM scheme is reformulated as a quadratic programming problem solved at the joint-acceleration level. Simulation results based on the PUMA560 robot manipulator validate the efficacy and applicability of the proposed MWVN–INAM–BCM scheme in robotic redundancy resolution. In addition, the physical realizability of the proposed scheme is verified in practical application based on a six-link planar robot manipulator.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

Demonstration of aircraft dynamic stability and response for aeronautical engineering students

1994 ◽  
Vol 98 (975) ◽  
pp. 192-193
Author(s):  
A.W. Bloy
Keyword(s):  
Dynamic Stability ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Six Degrees Of Freedom ◽  
Stability And Control ◽  
Good Grasp ◽  
Aircraft Motion ◽  
Aeronautical Engineering ◽  
And Control ◽  
Aircraft Stability And Control

The teaching of aircraft stability and control at university usually progresses to the complexity of six degrees of freedom with a large array of aerodynamic, gravitational and inertial terms. It is therefore essential to ensure that students have a good grasp of fundamental dynamic characteristics such as damping and natural frequency, and any demonstration in which students observe aircraft motion is particularly helpful. At Manchester University this is achieved by a windtunnel demonstration of aircraft dynamic stability and response in pitch to a sinusoidal gust generator.

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