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Titolo:
On singular behaviors of impedance-based repeatable control of redundant robots
Autore:
Wang, CC; Kumar, V;
Indirizzi:
Natl Sun Yat Sen Univ, Inst Undersea Technol, Kaohsiung 80424, Taiwan NatlSun Yat Sen Univ Kaohsiung Taiwan 80424 ol, Kaohsiung 80424, Taiwan Univ Penn, GRASP Lab, Philadelphia, PA 19104 USA Univ Penn Philadelphia PA USA 19104 GRASP Lab, Philadelphia, PA 19104 USA
Titolo Testata:
JOURNAL OF ROBOTIC SYSTEMS
fascicolo: 4, volume: 18, anno: 2001,
pagine: 171 - 186
SICI:
0741-2223(200104)18:4<171:OSBOIR>2.0.ZU;2-8
Fonte:
ISI
Lingua:
ENG
Soggetto:
MANIPULATORS; PERFORMANCE;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
22
Recensione:
Indirizzi per estratti:
Indirizzo: Wang, CC Natl Sun Yat Sen Univ, Inst Undersea Technol, 70 Lian Hai Rd, Kaohsiung 80424, Taiwan Natl Sun Yat Sen Univ 70 Lian Hai Rd Kaohsiung Taiwan80424 iwan
Citazione:
C.C. Wang e V. Kumar, "On singular behaviors of impedance-based repeatable control of redundant robots", J ROBOTIC S, 18(4), 2001, pp. 171-186

Abstract

This article addresses the association between the unstiffening phenomena in structural mechanics and the algorithmic singularities encountered in the impedance-based repeatable control algorithms used to command redundant manipulators. It is well known that velocity control schemes such as the pseudoinverse control schemes do not guarantee repeatability for redundant manipulators. Ln other words, for a closed end-effector trajectory, the jointsdo not, in general, exhibit a closed trajectory. One way to overcome this problem is to model each joint with compliance and incorporate a second-order correction term for the pseudoinverse. With this model, the joint configuration adopted by the manipulator at a given point in task space is one which minimizes the artificial potential energy of the system and is locally unique. In terms of statics, this is equivalent to saying that the elastic structure reaches its static equilibrium under external load. Keep this analogy in mind. We know that the impedance control commands the manipulator to mimic the behavior of an elastic articulated chain. For any phenomena observable on a real elastic structure, we should be able to find its counterpart embedded in the impedance control. hi this article, we analyze the performance of such repeatable control algorithms from the point of view of structure mechanics. Singularities in the algorithm are examined and their significance in mechanics are also discussed. (C) 2001 John Wiley & Sons, Inc.

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Documento generato il 27/05/20 alle ore 15:43:53