The proposed control is applicable for all the morphologies of the multi-arm system while performing several operations required for the assembly task, such as walking on a telescope structure through dedicated mechanical interfaces. The constrained dynamics is exploited to derive a unified joint ...
Robot Arm Dynamics and Control 来自 ResearchGate 喜欢 0 阅读量: 131 作者: AK Bejczy 摘要: Publication » Robot Arm Dynamics and Control.关键词: Effects of elevated CO~2 and climate variables on plants, Artículo DOI: doi:http://dx.doi.org/ 被引量: 345 ...
Analysis and experimentation is described for a two-link apparatus in which both members are very flexible. Attention is focused on endpoint position control for point-to-point movements, assuming a fixed reference frame for the base, with two rotary joints. Each link is instrumented with accelerat...
5.9.3 Arm Singularities . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.10 Inverse Velocity and Acceleration . . . . . . . . . . . . . . . . . . . . . . . 119 5.11 Redundant Robots and Manipulability . . . . . . . . . . . ....
The modeling for controller design of a constrained rigid-flexible robot arm is considered. The mathematical model is obtained as a set of nonlinear hybrid... FL Hu,AG Ulsoy - 《Journal of Dynamic Systems Measurement & Control》 被引量: 76发表: 1994年 Dynamic modeling, control and simulation...
Yoshikawa T., 1990, “Foundations of robotics. Analysis and control”, The MIT Press. Google Scholar Tarn T. J., Bejczy A. K., Yun X., Li Z., 1991, “Effect of motor dynamics on nonlinear feedback robot arm control”, IEEE Transactions on Robotics and Automation, Vol. 7, No. ...
This example shows grey-box modeling of the dynamics of an industrial robot arm. The robot arm is described by a nonlinear three-mass flexible model according to Figure 1. This model is idealized in the sense that the movements are assumed to be around an axis not affected by gravity. For...
By driving three or more actuators simultaneously the end of the robot arm may be made to trace any path within its three-dimensional operating envelope. However, to enable the position and velocity of the end effector to be controlled, information concerning the position and rate of change of...
decoupling of arm and wrist singularities for 6 axis manipulators Inverse of velocity and acceleration pseudo-inverse and nullspace of jacobian jacobian derivative for acceleration inversion Manipulability manipulability ellipsoid manipulability measures
f The control system consists of a motion capture system, an end robot arm, and a deep reinforcement learning controller. The tip position is obtained by the motion capture system and transferred to the deep reinforcement learning controller as the input. The controller outputs the action signals...