Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints

2021 ◽  
Author(s):  
Shuvrodeb Barman ◽  
Yujiang Xiang
Keyword(s):  
Sensitivity Analysis ◽  
Robot Manipulator ◽  
Revolute Joints

Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2100-2113 ◽  
Author(s):  
Bolin Liao ◽  
Weijun Liu
Keyword(s):  
Robot Manipulator ◽  
Robot Manipulators ◽  
Weighting Factor ◽  
Redundancy Resolution ◽  
Type Solution ◽  
Revolute Joints ◽  
Joint Velocity ◽  
Joint Acceleration ◽  
Minimum Velocity ◽  
Minimization Scheme

SUMMARYIn this paper, a pseudoinverse-type bi-criteria minimization scheme is proposed and investigated for the redundancy resolution of robot manipulators at the joint-acceleration level. Such a bi-criteria minimization scheme combines the weighted minimum acceleration norm solution and the minimum velocity norm solution via a weighting factor. The resultant bi-criteria minimization scheme, formulated as the pseudoinverse-type solution, not only avoids the high joint-velocity and joint-acceleration phenomena but also causes the joint velocity to be near zero at the end of motion. Computer simulation results based on a 4-Degree-of-Freedom planar robot manipulator comprising revolute joints further verify the efficacy and flexibility of the proposed bi-criteria minimization scheme on robotic redundancy resolution.

Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints

2020 ◽  
Author(s):  
Shuvrodeb Barman ◽  
Yujiang Xiang
Keyword(s):  
Robot Manipulator ◽  
Joint Torque ◽  
Planning Problem ◽  
Transformation Matrices ◽  
Revolute Joints ◽  
Sensitivity Equations ◽  
Joint Forces ◽  
Time Optimal ◽  
Planning Problems ◽  
Optimal Trajectory Planning

Abstract In this study, recursive Newton-Euler sensitivity equations are derived for robot manipulator motion planning problems. The dynamics and sensitivity equations depend on the 3 × 3 rotation matrices based on the moving coordinates. Compared to recursive Lagrangian formulation, which depends on 4 × 4 Denavit-Hartenberg (DH) transformation matrices, the moving coordinate formulation increases computational efficiency significantly as the number of matrix multiplications required for each optimization iteration is greatly reduced. A two-link manipulator time-optimal trajectory planning problem is solved using the proposed recursive Newton-Euler dynamics formulation. Only revolute joint is considered in the formulation. The predicted joint torque and trajectory are verified with the data in the literature. In addition, the optimal joint forces are retrieved from the optimization using recursive Newton-Euler dynamics.

Kinematic Clearance Sensitivity Analysis of Spatial Structures With Revolute Joints

1999 ◽  
Author(s):  
Carlo Innocenti
Keyword(s):  
Sensitivity Analysis ◽  
Rigid Body ◽  
External Load ◽  
Body Position ◽  
New Method ◽  
Spatial Structures ◽  
Revolute Joints ◽  
Joint Clearances

Abstract The paper presents a new method to assess the influence of joint clearances in spatial structures that are composed of links connected by revolute joints. The method allows assessment of the amount by which joint clearances affect the rigid-body position of a generic link of the structure when an external load is exerted on the link. Unlike other procedures, the proposed method relies on the clearance-free idealization of the structure under investigation. An example shows application of the proposed method to the analysis of the structure derived from a multi-loop manipulator by freezing its actuators.

scholarly journals Embedded Optimal Control of Robot Manipulators with Passive Joints

2015 ◽  
Vol 2015 ◽  
pp. 1-21 ◽  
Author(s):  
Alberto Olivares ◽  
Ernesto Staffetti
Keyword(s):  
Optimal Control ◽  
Dynamical Systems ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Operating Modes ◽  
Change Dynamics ◽  
Revolute Joints ◽  
Underactuated Robot

This paper studies the optimal control problem for planar underactuated robot manipulators with two revolute joints and brakes at the unactuated joints in the presence of gravity. The presence of a brake at an unactuated joint gives rise to two operating modes for that joint: free and braked. As a consequence, there exist two operating modes for a robot manipulator with one unactuated joint and four operating modes for a manipulator with two unactuated joints. Since these systems can change dynamics, they can be regarded as switched dynamical systems. The optimal control problem for these systems is solved using the so-called embedding approach. The main advantages of this technique are that assumptions about the number of switches are not necessary, integer or binary variables do not have to be introduced to model switching decisions between modes, and the optimal switching times between modes are not unknowns of the optimal control problem. As a consequence, the resulting problem is a classical continuous optimal control problem. In this way, a general method for the solution of optimal control problems for switched dynamical systems is obtained. It is shown in this paper that it can deal with nonintegrable differential constraints.

Modeling and Simulation of A 6 Dof Robot

2012 ◽  
Vol 463-464 ◽  
pp. 1116-1119 ◽  
Author(s):  
Monica Loredana Enescu ◽  
Cătălin Alexandru
Keyword(s):  
Spray Pyrolysis ◽  
Mechanical Model ◽  
Robot Manipulator ◽  
Robotic System ◽  
Surface Deposition ◽  
End Effector ◽  
Uniform Coating ◽  
Revolute Joints ◽  
Spray Pyrolysis Process ◽  
Multi Body

The purpose of this paper is to model and simulate a 6 DOF robotic system with revolute joints. This is in order to optimize the motion law which results in uniform coating deposited by spray pyrolysis. The structure and the complexity of the robotic system are determined by the necessary movements in the spray pyrolysis process. The nozzle (end-effector of the robot manipulator) has two translations, in longitudinal and transversal direction relative to the surface deposition. The mechanical model of the robot mechanism was developed by using the MBS (Multi Body Systems) environment ADAMS of MSC Software.

Application of a Five-Axis Robot Manipulator to Maintenance Operations

1999 ◽  
Author(s):  
Michele Lacagnina ◽  
Francesco Petrone ◽  
Rosario Sinatra
Keyword(s):  
Least Squares ◽  
Inverse Dynamics ◽  
Robot Manipulator ◽  
Least Squares Approximation ◽  
Kinematics Model ◽  
Cartesian Space ◽  
Revolute Joints ◽  
Joint Coordinates ◽  
Five Axis

Abstract This paper describes the application of a five-axis manipulator with a particular architecture containing only revolute joints to the performance of maintenance operations on the concrete spire of the “Madonna delle Lacrime” church, in Siracusa, Italy. The kinematics model is derived and a computation of the joint coordinates and their time rates are calculated by the least-squares approximation, as proposed by Angeles. The Newton-Eulero algorithm is implemented for a simulation of the inverse dynamics of a not-simple trajectory in Cartesian space required to perform the maintenance task.

Fuzzy Logic-based Techniques for Motion Planning of a Robot Manipulator Amongst Unknown Moving Obstacles

Robotica ◽  
1992 ◽  
Vol 10 (6) ◽  
pp. 563-574 ◽  
Author(s):  
Anupam Bagchi ◽  
Himanshu Hatwal
Keyword(s):  
Motion Planning ◽  
Fuzzy Controller ◽  
Robot Manipulator ◽  
Dynamic Environment ◽  
Geometric Approach ◽  
The Body ◽  
Sensory Data ◽  
Revolute Joints ◽  
Manipulator Link ◽  
Kinematic Motion

SUMMARYAn algorithm for kinematic motion planning of redundant planar robots, having revolute joints, in an unknown dynamic environment is presented. Distance ranging sensors, mounted on the body of each manipulator link, are simulated here to estimate the proximity of an obstacle. The sensory data is analyzed through a fuzzy controller which estimates whether a collision is imminent, and if so, employs a geometric approach to compute the joint movements necessary to avoid the collision. Obstacles can sometimes move uncompromisingly in the environment attempting a deliberate collision. Strategies to deal with such cases are presented and recovery procedures to circumvent the obstacle from tight corners are suggested. Cases of link overlap have been avoided by considering each link as a body which is sensed as an obstacle by every other link of the same manipulator. Suitable examples are presented to demonstrate the algorithm.

Sensitivity analysis and prediction of the orientation error of a three translational parallel manipulator

2016 ◽  
Vol 232 (1) ◽  
pp. 140-161 ◽  
Author(s):  
AH Chebbi ◽  
Y Chouaibi ◽  
Z Affi ◽  
L Romdhane
Keyword(s):  
Sensitivity Analysis ◽  
Parallel Manipulator ◽  
Design Parameters ◽  
Radial Clearance ◽  
Analytical Sensitivity ◽  
Orientation Error ◽  
Revolute Joints ◽  
Robot Accuracy ◽  
Analytical Sensitivity Analysis ◽  
Influential Parameters

This paper deals with the sensitivity analysis and the prediction of the orientation error limits of a three-DoF translational parallel manipulator (3-TPM). An analytical model relating the robot accuracy to the design parameters uncertainties, the joints clearances, the nominal pose, and the external load is developed. Based on this model, an analytical sensitivity analysis is performed to show the influence of each parameter on the orientation error. An algorithm based on the interval analysis is used to predict the bounds of the translator orientation error. Using the RAF robot as an example, it is shown that the pin length of the revolute joint, the width of the parallelogram structure and the radial clearance in the revolute joints are the most influential parameters on the orientation error of the manipulator. Moreover, one of the main results of this analysis is that an increase of the tolerances on certain parameters does not necessarily lead to an increase of the orientation error of the robot, for this specific example.

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