A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry Maneuvers

2015 ◽  
Vol 137 (8) ◽  
Author(s):  
Kerim Yunt
Keyword(s):  
Trajectory Planning ◽  
Learning Process ◽  
Degrees Of Freedom ◽  
Parametric Uncertainties ◽  
Six Degrees Of Freedom ◽  
Tracking Tasks ◽  
Lyapunov Controller ◽  
Planning Algorithm

A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory planning algorithm is needed to run offline nor any type of learning process. The robustness of the controller is demonstrated, through simulations with inertial parametric uncertainties. The concept is presented with the simulations of six degrees-of-freedom (DOF) double revolute (RR) planar manipulator with a 4DOF gripper and a 8DOF triple revolute (RRR) manipulator with a 5DOF gripper.

A fixed-distance planning algorithm for 6-DOF manipulators

2015 ◽  
Vol 42 (6) ◽  
pp. 586-599 ◽  
Author(s):  
Mingyu Gao ◽  
Da Chen ◽  
Yuxiang Yang ◽  
Zhiwei He
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Control Strategies ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cartesian Coordinates ◽  
Content Type ◽  
Fixed Distance ◽  
Planning Algorithm

Purpose – The purpose of this paper is to propose a new trajectory planning algorithm for industrial robots, which can let the robots move through a desired spatial trajectory, avoid colliding with other objects and achieve accurate movements. Trajectory planning algorithms are the soul of motion control of industrial robots. A predefined space trajectory can let the robot move through the desired spatial coordinates, avoid colliding with other objects and achieve accurate movements. Design/methodology/approach – The mathematical expressions of the proposed algorithm are deduced. The speed control, position control and orientation control strategies are realized and verified with simulations, and then implemented on a six degrees of freedom (6-DOF) industrial robot platform. Findings – A fixed-distance trajectory planning algorithm based on Cartesian coordinates was presented. The linear trajectory, circular trajectory, helical trajectory and parabolic trajectory in Cartesian coordinates were implemented on the 6-DOF industrial robot. Originality/value – A simple and efficient algorithm is proposed. Enrich the kind of trajectory which the industrial robot can realize. In addition, the industrial robot can move more concisely, smoothly and precisely.

Kinematics and Path Planning of a Six-Degrees-of-Freedom Robot Manipulator

2013 ◽  
Author(s):  
Carlos Mondragon ◽  
Reza Fotouhi
Keyword(s):  
Path Planning ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Geometric Characteristic ◽  
Research Work ◽  
Six Degrees Of Freedom ◽  
Pick And Place ◽  
Common Plane ◽  
Planning Algorithm

This paper introduces a strategy to accomplish pick-and-place operations for a six-degrees-of-freedom (6-DOF) robotic arm attached to a wheeled mobile robot. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. This paper presents an approach for solving the inverse kinematics problem and planning collision-free paths. An Iterative Inverse Kinematics method (IIK) was introduced to find multiple configurations for the manipulator along a given path. The IIK method takes advantage of a specific geometric characteristic of the manipulator, in which several joints share a common plane. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of a path planning algorithm introduced here. Other methods, also implemented in the current project, which describe the manipulator and its capabilities, are presented elsewhere [1]. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations for a 6-DOF manipulator.

scholarly journals Research on Trajectory Planning of Six Degrees of Freedom Robot

2019 ◽  
Vol 25 ◽  
pp. 01010
Author(s):  
Hao Zhou
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Research Direction ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Continuous Development ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

With the continuous development of industrial automation, the demand for industrial robots in the manufacturing field is gradually increasing. In order to meet the needs of different occasions and functions, the planning of the trajectory of the robot becomes the research direction of the six-degree-of-freedom robot. The research object of this paper is a six-degree-of-freedom industrial robot. According to engineering needs, a structure of a handling robot is designed. The kinematics of the robot and its trajectory planning are studied, and the simulation analysis is made.

Trajectory Planning Research of the Filter Shell Special Arc Welding Robot

2013 ◽  
Vol 706-708 ◽  
pp. 1103-1107
Author(s):  
Ling Wang ◽  
Xin Qing Fan ◽  
Fu Yan Qi ◽  
Wan Hua Wei
Keyword(s):  
Coordinate System ◽  
Detailed Analysis ◽  
Trajectory Planning ◽  
Arc Welding ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Connecting Rod ◽  
Six Degrees Of Freedom ◽  
Simulation Results

The detailed analysis of the structure and paramerers of the connecting rod is put forward by using the improving D-H method to establish the link coordinate system and the kinematics equation, based on the special filer shell arc welding robot with six degrees of freedom designed. Therefor, the correctness of the kinematics equation is verified though the simulation of Matlab function with the robotics toolbox. The anasysis simulation results show that the rationality of the robot structure that based on the kinematics analysis, is feasible.

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]

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