Free Model Task Space Controller Based on Adaptive Gain for Robot Manipulator Using Jacobian Estimation

2018 ◽  
pp. 264-275
Author(s):  
Josué Gómez ◽  
Chidentree Treesatayapun ◽  
América Morales
Keyword(s):  
Robot Manipulator ◽  
Task Space ◽  
Free Model

scholarly journals Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics

2017 ◽  
Vol 2017 ◽  
pp. 1-19 ◽  
Author(s):  
Xichang Liang ◽  
Yi Wan ◽  
Chengrui Zhang
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Kinematics And Dynamics ◽  
Task Space ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode

To improve the tracking precision of robot manipulators’ end-effector with uncertain kinematics and dynamics in the task space, a new control method is proposed. The controller is based on time delay estimation and combines with the nonsingular terminal sliding mode (NTSM) and adaptive fuzzy logic control scheme. Kinematic parameters are not exactly required with the consideration of kinematic uncertainties in the controller. No dynamic models or numerous parameters of the robot manipulator system are required with the use of TDE. Thus, the controller is simple structure and suitable for practical applications. Furthermore, errors caused by time delay estimation are compensated by the adaptive fuzzy nonsingular terminal sliding mode scheme. The simulation is performed on a 2-DOF robot manipulator with three cases in the task space. The results show that the proposed controller provides faster convergence rate and higher tracking precision than TDE based NTSM and improved TDE based NTSM controller.

Optimal Geometric Design of Robot Manipulator Link Shapes

1995 ◽  
Author(s):  
Q. Tu ◽  
J. Rastegar
Keyword(s):  
Present Method ◽  
Recent Article ◽  
Robot Manipulator ◽  
Geometric Design ◽  
Task Space ◽  
Operational Environment ◽  
End Effector ◽  
Numerical Examples ◽  
The Monte Carlo Method ◽  
Manipulator Link

Abstract In a recent article, Rastegar and Tu (1993), the authors presented a method for determining allowable link shapes for robot manipulators once their preferred operational environment is specified. The operational environment may include the preferred size and geometry of the end-effector task space(s), the obstacle and the installation spaces, and the enclosure within which the robot is to operate. In this method, by defining weighted (preferred) distributions for the task and/or obstacle spaces and for the enclosure geometry, weighted allowable manipulator link shapes are determined. In the present study, the developed method is extended to address the problem of optimal geometric design of robot manipulator link shapes. The developed methods are very simple, numeric in nature, readily implemented on computer, and can be classified as being based on the Monte Carlo method. The extension of the present method to the solution of optimal geometric shape synthesis for task and obstacle spaces is discussed. Numerical examples are presented.

Extension of Usable Workspace of Rotational Axes in Robot Planning

Robotica ◽  
1999 ◽  
Vol 17 (3) ◽  
pp. 293-301 ◽  
Author(s):  
Zhen Huang ◽  
Y Lawrence Yao
Keyword(s):  
Path Planning ◽  
Convenient Method ◽  
Rotational Motion ◽  
Robot Manipulator ◽  
Task Space ◽  
Robot Path Planning ◽  
Robot Path

Singularity of a robot manipulator is one of the obstacles that influences its capabilities. This paper discusses constrained and allowable rotational motion resulting from lost translational freedom when the robot is singular. A convenient method and simple and clear expression to determine the allowable rotational axes and the subspace that they form, under Jacobian singularity, is analyzed and presented. Different configurations, reciprocal screws, and subspaces of allowable-rotational-axes are derived in a case study involving a classic robot. The result is useful in applications involving robot path planning in task space as it extends the usable workspace of rotational axes.

Task-space region-reaching control for medical robot manipulator

2018 ◽  
Vol 67 ◽  
pp. 629-645 ◽  
Author(s):  
Yassine Bouteraa ◽  
Ismail Ben Abdallah ◽  
Jawhar Ghommam
Keyword(s):  
Robot Manipulator ◽  
Space Region ◽  
Task Space ◽  
Medical Robot
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