scholarly journals Kinematic Task Space Control Scheme for 3DOF Pneumatic Parallel Robot

10.5772/15395 ◽  
2011 ◽  
Author(s):  
Luis Hernndez ◽  
Eduardo Izaguirre ◽  
Ernesto Rubio ◽  
Orlando Urquijo ◽  
Jorge Guerr
Keyword(s):  
Parallel Robot ◽  
Task Space ◽  
Control Scheme ◽  
Task Space Control

Task Space Control of the Delta Parallel Robot

1992 ◽  
Vol 25 (29) ◽  
pp. 337-342
Author(s):  
P. Guglielmetti ◽  
R. Longchamp
Keyword(s):  
Parallel Robot ◽  
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
Sign in / Sign up

Export Citation Format

Share Document