A New Probabilistic Method for the Performance Evaluation of Manipulators: Part II — Application to Task Placement

1989 ◽  
Author(s):  
J. Rastegar ◽  
J. R. Singh
Keyword(s):  
Performance Evaluation ◽  
Probabilistic Method ◽  
Robotic Manipulator ◽  
Optimality Criteria ◽  
Optimal Placement ◽  
Arbitrary Form ◽  
Complex Task ◽  
Task Space ◽  
Force Transmission ◽  
Task Placement

Abstract A probabilistic method for optimal placement of a prescribed task space in the workspace of a robotic manipulator is presented. Velocity and force transmission (alone and in combination) are used as optimality criteria. Complex task space and manipulator workspace geometries are readily handled. The distribution of the tasks within the task space, and the velocity and force transmission requirements may assume any arbitrary form. The method is extremely simple, does not require inverse calculations, is numerical in nature, and is readily implemented on computers. In many cases, the best location of the task space within the manipulator workspace can be visually ascertained. Minimal analytical formulations are required. Several examples are presented.

A New Probabilistic Method for the Performance Evaluation of Manipulators

1994 ◽  
Vol 116 (2) ◽  
pp. 462-466 ◽  
Author(s):  
J. Rastegar ◽  
J. R. Singh
Keyword(s):  
Probabilistic Method ◽  
Optimality Criteria ◽  
Complex Task ◽  
Conditional Distributions ◽  
Task Space ◽  
Force Transmission ◽  
Basic Definition ◽  
Transmission Characteristics ◽  
Joint Coordinates ◽  
Definition Of

A new probabilistic method is introduced which can be used to obtain a global map of the distribution of the velocity and force transmission characteristics of robot manipulators. The method yields the global distributions of volumes of the velocity and force ellipsoids. It utilizes the most basic definition of the properties of the mapping functions between the joint coordinates and the Cartesian (task) coordinates. The method is extremely simple, numerical in nature, and readily implemented on a computer. It requires very simple and limited analytical formulations. No inverse calculations are involved. The method can be utilized for optimal positioning of task spaces within workspaces of manipulators. Velocity and force transmission (alone and in combination) may be used as optimality criteria. Complex task space and manipulator workspace geometries are readily handled. The tasks, velocity, and force transmission requirements may assume any arbitrary, even conditional, distributions within the task space. These distributions, especially conditional distributions, are extremely difficult, if not impossible, to handle using other methods. The application of the method to task planning and optimal manipulator synthesis is discussed. Several examples are presented.

A New Probabilistic Method for the Performance Evaluation of Manipulators: Part I — Methodology

1989 ◽  
Author(s):  
J. Rastegar ◽  
J. R. Singh
Keyword(s):  
Performance Evaluation ◽  
Probabilistic Method ◽  
Robotic Manipulators ◽  
Condition Numbers ◽  
Force Transmission ◽  
Transmission Characteristics ◽  
Joint Coordinates ◽  
Definition Of ◽  
Planning Problems ◽  
And Task

Abstract A totally new probabilistic method is introduced which can be used to obtain a global map of the distribution of the velocity and force transmission characteristics of robotic manipulators. The method yields the global distributions of volumes of the velocity and force ellipsoids, the eigenvectors, the eigenvalues, and the condition numbers. It utilizes the most basic definition of the properties of the mapping functions between the joint coordinates and the Cartesian (task) coordinates. The method is extremely simple, numerical in nature, and readily implementable on a computer. It requires very simple and limited analytical formulations. No inverse calculations are involved. The method furnishes a very simple and effective tool for solving a number of synthesis, performance evaluation, and task planning problems. In Part II of this paper, the method is utilized for optimal positioning of task spaces within workspaces of manipulators. Several examples are presented.

Human Performance Evaluation of a Metaphor Graphic Display for Respiratory Data

1994 ◽  
Vol 33 (04) ◽  
pp. 390-396 ◽  
Author(s):  
J. G. Stewart ◽  
W. G. Cole
Keyword(s):  
Performance Evaluation ◽  
Human Performance ◽  
Pattern Detection ◽  
Data Sets ◽  
Complex Task ◽  
Graphic Display ◽  
Literal Sense ◽  
Single Number ◽  
The Impact ◽  
Human Problem

Abstract:Metaphor graphics are data displays designed to look like corresponding variables in the real world, but in a non-literal sense of “look like”. Evaluation of the impact of these graphics on human problem solving has twice been carried out, but with conflicting results. The present experiment attempted to clarify the discrepancies between these findings by using a complex task in which expert subjects interpreted respiratory data. The metaphor graphic display led to interpretations twice as fast as a tabular (flowsheet) format, suggesting that conflict between earlier studies is due either to differences in training or to differences in goodness of metaphor, Findings to date indicate that metaphor graphics work with complex as well as simple data sets, pattern detection as well as single number reporting tasks, and with expert as well as novice subjects.

The Mechanical Performance Evaluation of a Mechanism with Curved Edge Driving Component

2013 ◽  
Vol 834-836 ◽  
pp. 1290-1294
Author(s):  
Xin Qin Liu
Keyword(s):  
Performance Evaluation ◽  
Fast Moving ◽  
Mechanical Performance ◽  
Gain Coefficient ◽  
The Other ◽  
Force Transmission ◽  
Transmission Performance ◽  
Connecting Rod ◽  
Numerical Examples ◽  
Straight Line

Mechanicalmethods were employed to study the motion and force transmission performance ofa kind of connecting rod slider mechanism with a curved edge driving component.The deduction methods and the computation formulae of the slider displacement,velocity, acceleration and the executive force gain coefficient were given.Considering two cases of the driving components with straight line edge andexponential function edge, the numerical examples was computed respectively,the results show that the former one is suitable for the force transmission andcan be used in the grip design and the other one is suitable for the motiontransmission which can be used in the fast moving mechanism

scholarly journals Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

2015 ◽  
Vol 7 (1) ◽  
Author(s):  
Tao Shen ◽  
Carl A. Nelson ◽  
Kevin Warburton ◽  
Dmitry Oleynikov
Keyword(s):  
Endoscopic Surgery ◽  
Robotic Manipulator ◽  
Experimental Results ◽  
Force Transmission ◽  
Natural Orifice ◽  
Drive Mechanism ◽  
Dc Motors ◽  
Preliminary Validation ◽  
Complex Shapes

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

scholarly journals Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators

2016 ◽  
Vol 85 (3-4) ◽  
pp. 471-489 ◽  
Author(s):  
Mirosław Galicki
Keyword(s):  
Finite Time ◽  
Lyapunov Stability Theory ◽  
Robotic Manipulator ◽  
Task Space ◽  
Absolutely Continuous ◽  
Finite Time Convergence ◽  
Robot Trajectory ◽  
Vector Variable ◽  
Chattering Free ◽  
Task Space Control

AbstractThis work deals with the problem of the accurate task space control subject to finite-time convergence. Kinematic and dynamic equations of a rigid robotic manipulator are assumed to be uncertain. Moreover, unbounded disturbances, i.e., such structures of the modelling functions that are generally not bounded by construction, are allowed to act on the manipulator when tracking the trajectory by the end-effector. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of absolutely continuous (chattering-free) robust controllers based on the estimation of a Jacobian transpose matrix, which seem to be effective in counteracting uncertain both kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a 2DOF robotic manipulator with two revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers.

Optimal Design of Spherical 5R Parallel Manipulators Considering the Motion/Force Transmissibility

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Chao Wu ◽  
Xin-Jun Liu ◽  
Liping Wang ◽  
Jinsong Wang
Keyword(s):  
Performance Evaluation ◽  
Optimal Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Dimensional Synthesis ◽  
Force Transmission ◽  
Minimally Invasive Surgical ◽  
Pointing Device ◽  
Force Transmissibility

The spherical 5R parallel manipulator is a typical parallel manipulator. It can be used as a pointing device or as a minimally invasive surgical robot. This study addresses the motion/force transmission analysis and optimization of the manipulator by taking into account the motion/force transmissibility. The kinematics of the manipulator is analyzed. Several transmission indices are defined by using screw theory for the performance evaluation and dimensional synthesis. The process of determining the optimal angular parameters based on performance charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified.

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