Visual based tracking of planar robot arms: a scheme using projection matrix

2004 ◽  
Author(s):  
N.H. Quach ◽  
Ming Liu
Keyword(s):  
Projection Matrix ◽  
Robot Arms ◽  
Planar Robot

Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot Arms

2008 ◽  
Vol 130 (11) ◽  
Author(s):  
Anurag Purwar ◽  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Robot Arm ◽  
Spherical Robot ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Planar Robot ◽  
Circular Interpolation

This paper deals with the problem of synthesizing smooth piecewise rational spherical motions of an object that satisfies the kinematic constraints imposed by a spherical robot arm with revolute joints. This paper brings together the kinematics of spherical robot arms and recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. The kinematic constraints under consideration are workspace related constraints that limit the orientation of the end link of robot arms. This paper extends our previous work on synthesis of rational motions under the kinematic constraints of planar robot arms. Using quaternion kinematics of spherical arms, it is shown that the problem of synthesizing the Cartesian rational motion of a 2R arm can be reduced to that of circular interpolation in two separate planes. Furthermore, the problem of synthesizing the Cartesian rational motion of a spherical 3R arm can be reduced to that of constrained spline interpolation in two separate planes. We present algorithms for the generation of C1 and C2 continuous rational motion of spherical 2R and 3R robot arms.

Computer Aided Synthesis of Piecewise Rational Motions for Planar 2R and 3R Robot Arms

2006 ◽  
Vol 129 (10) ◽  
pp. 1031-1036 ◽  
Author(s):  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Motion Planning ◽  
Spline Interpolation ◽  
Circular Ring ◽  
Robot Arm ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Planar Robot ◽  
Circular Interpolation

This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. This paper brings together the kinematics of planar robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Through the use of planar quaternions, it is shown that for the case of a planar 2R arm, the problem of rational motion synthesis can be reduced to that of circular interpolations in two separate planes and that for the case of a planar 3R arm, the problem can be reduced to a combination of circular interpolation in one plane and a constrained spline interpolation in a circular ring on another plane. Due to the limitation of circular interpolation, only C1 continuous rational motions are generated that satisfy the kinematic constraints exactly. For applications that require C2 continuous motions, this paper presents a method for generating C2 continuous motions that approximate the kinematic constraints for planar 2R and 3R robot arms.

Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

2006 ◽  
Vol 18 (5) ◽  
pp. 580-588 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Rizauddin Bin Ramli ◽  
Satoshi Ueki
Keyword(s):  
Reference Model ◽  
Coordinated Control ◽  
Rolling Contact ◽  
Stability Of Motion ◽  
Robot Arms ◽  
Control Scheme ◽  
Planar Robot ◽  
End Effectors ◽  
Multiple Robot ◽  
Object Reference

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.

Computer Aided Synthesis of Piecewise Rational Motions for Planar 2R and 3R Robot Arms

2006 ◽  
Author(s):  
Zhe Jin ◽  
Q. J. Ge
Keyword(s):  
Spline Interpolation ◽  
Joint Space ◽  
Circular Ring ◽  
Robot Arm ◽  
Kinematic Constraints ◽  
Robot Arms ◽  
Revolute Joints ◽  
Computer Aided ◽  
Planar Robot ◽  
Circular Interpolation

This paper deals with the problem of synthesizing piecewise rational motions of an object that satisfies kinematic constraints imposed by a planar robot arm with revolute joints. The paper brings together the kinematics of planar robot arms and the recently developed freeform rational motions to study the problem of synthesizing constrained rational motions for Cartesian motion planning. Through the use of planar quaternions, it is shown that the problem of synthesizing the Cartesian rational motion of a planar 2R arm can be reduced to that of circular interpolations in two separate planes. Furthermore, the problem of synthesizing the Cartesian rational motion of a planar 3R arm can be reduced to that of circular interpolation in one plane and constrained spline interpolation in a circular ring. Due to the limitation of circular interpolation, only C1 continuous rational motions are generated. For applications that require C2 continuous motions, the paper presents a joint-space based method for generating a C2 continuous motion that approximates a given C1 rational motion of the end link.

scholarly journals Critical configurations of planar robot arms

2013 ◽  
Vol 11 (3) ◽  
Author(s):  
Giorgi Khimshiashvili ◽  
Gaiane Panina ◽  
Dirk Siersma ◽  
Alena Zhukova
Keyword(s):  
Critical Points ◽  
Morse Index ◽  
Robot Arms ◽  
Polygonal Chain ◽  
Oriented Area ◽  
Critical Configurations ◽  
Planar Robot ◽  
Polygonal Chains ◽  
Closed Polygon ◽  
Cyclic Polygon

AbstractIt is known that a closed polygon P is a critical point of the oriented area function if and only if P is a cyclic polygon, that is, P can be inscribed in a circle. Moreover, there is a short formula for the Morse index. Going further in this direction, we extend these results to the case of open polygonal chains, or robot arms. We introduce the notion of the oriented area for an open polygonal chain, prove that critical points are exactly the cyclic configurations with antipodal endpoints and derive a formula for the Morse index of a critical configuration.

scholarly journals On optimal control of multi-link vertical planar robot arms systems moving under the effect of gravity

1997 ◽  
Vol 39 (2) ◽  
pp. 195-213 ◽  
Author(s):  
H. W. J. Lee ◽  
K. L. Teo ◽  
L. S. Jennings
Keyword(s):  
Optimal Control ◽  
Initial Guess ◽  
Chaotic Behaviour ◽  
Control Parametrization ◽  
Theoretical Justification ◽  
Numerical Example ◽  
Robot Arms ◽  
Planar Robot

AbstractHow to obtain a workable initial guess to start an optimal control (control parametrization) algorithm is an important question. In particular, for a system of multi-link vertical planar robot arms moving under the effect of gravity and applied torques (which can exhibit chaotic behaviour), a non-workable initial guess of torques may cause integration failure regardless of what numerical packages are used. In this paper, we address this problem by introducing a simple and intuitive “Blind Man” algorithm. Theoretical justification as well as a numerical example is provided.

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