aHollerbach, J.M., Dynamic Scaling of Manipulator Trajectories, Trans. of ASME, J. of Dyn.Sys. Meas. and Contr., Vol.106(1984),pp.102-106. Hollerbach, J.M.,操作器弹道, Trans.动态结垢。 ASME, J。 Dyn.Sys。 Meas。 并且Contr., Vol.106 (1984), pp.102-106。 [translate] ...
Online Trajectory Scaling for Manipulators Subject to High-Order Kinematic and Dynamic Constraints 来自 Semantic Scholar 喜欢 0 阅读量: 80 作者:C Bianco,O Gerelli 摘要: Robotic manipulators are usually driven by means of minimum-time trajectories. Unfortunately, such trajectories strongly solicit the ...
The approach is successfully applied to a\nthree-link spatial manipulator, thereby showing how all required\ninertial parameters can be identified using exciting trajectoriesLucyshyn, R.Angeles, J.Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International ...
The second group of techniques handles the transition trajectory planning problem of three-DOF point-mass CSPRs by decoupling geometric planning and time scaling. First, the geometric path is constructed, and then the corresponding feasibility conditions of the time functions are deduced from the CS...
For the case of large overshoots, modified DMP formulations have been proposed (Hoffmann et al., 2009; Koutras and Doulgeri, 2020). These works however try to mitigate the negative effects of “over-scaling”, but without enforcing specific bounds on the position, velocity and acceleration of...
To assist an amputee in regaining his or her daily quality of life, based on analysis of the motion characteristics of the human hip, a 2-UPR/URR parallel mechanism with a passive limb was designed. The inverse kinematics of this mechanism was analyzed b
These results indicate that a palm can be well-compatible with objects in a specific range of collision kinetic energy, but such compatibility is usually limited. An efficient method presented in this work for scaling up the performance of the FPSED mechanism is to control the pre-charged ...
To optimize the sizes of safety zones enclosing the manipulator, the method minimizes the time of potential stop trajectories considering the robot dynamics and its torque constraints, and leverages the directed speed of the robot parts with respect to the human. Simulations and experimental tests on...
To optimize the sizes of safety zones enclosing the manipulator, the method minimizes the time of potential stop trajectories considering the robot dynamics and its torque constraints, and leverages the directed speed of the robot parts with respect to the human. Simulations and experimental tests on...
node corresponding to the coordinates (𝑥,𝑦,𝑧)(x,y,z) of the world, as defined in Equation (1); k is the configuration distance lookup depth; l is the number of configurations that occupy the node corresponding to (𝑥,𝑦,𝑧)(x,y,z); 𝑅𝑠Rs is a constant scaling ...