Performance Based Redundancy Resolution With Multiple Criteria

1998 ◽  
Author(s):  
Chetan Kapoor ◽  
Murat Cetin ◽  
Delbert Tesar
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Object Oriented ◽  
Multicriteria Decision Making ◽  
Multiple Criteria ◽  
Software Framework ◽  
Redundancy Resolution ◽  
Real Time Control ◽  
Time Control ◽  
Criteria Weights

Abstract This paper presents a scaleable approach to redundancy resolution problems involving multiple criteria. The proposed scheme relies on the disintegration of the inverse kinematics solution from multicriteria decision making. The scheme is composed of systematic generation of a set of inverse kinematics solutions and evaluating these solutions using multiple criteria. The proposed approach is especially promising for problems that can accommodate extensive number of criteria. Weights assigned to different criteria are monitored and adjusted to achieve desired performance goals. The scheme is implemented using an object-oriented operational software framework, and its functionality is tested under interactive real-time control of a 10 degrees of freedom manipulator.

A New Real-Time Iteration Method Based on Geometry for Inverse Kinematics of Truck Mounted Concrete Pump

2013 ◽  
Vol 373-375 ◽  
pp. 2109-2113
Author(s):  
Long An Chen ◽  
Ying Jie Shen ◽  
Zhi Nan Mi
Keyword(s):  
Real Time ◽  
Iteration Method ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Variable Step Size ◽  
Real Time Control ◽  
Step Size ◽  
Time Control ◽  
Variable Step ◽  
Concrete Pump

A new iteration method based on geometry to solve the inverse kinematics for the boom system of truck mounted concrete pump, which is difficult to real-time control since its degrees of freedom are multiple-redundant, is presented. This method uses a variable-step size technique to approach the solution of the inverse kinematics, and uses geometry to determine how much angles of joint to change and its direction. Comparing with the traditional methods, this method is more suitable for real-time control of truck mounted concrete pump boom system without calculating the inverse matrix of jacobian. By the method the movement of boom will be safer and more stable when pumping concrete. Simulation results show that the new method has a fast convergence speed and good stability.

Real Time, Near-Optimal Trajectory Planning of an Omni-Directional Vehicle

2001 ◽  
Author(s):  
Tamás Kalmár-Nagy ◽  
Pritam Ganguly ◽  
Raffaello D’Andrea
Keyword(s):  
Real Time ◽  
Optimal Trajectory ◽  
Degrees Of Freedom ◽  
Dynamic Environments ◽  
Real Time Control ◽  
Uncertain Environments ◽  
Time Control ◽  
Innovative Method ◽  
Optimal Trajectory Planning ◽  
Three Degrees Of Freedom

Abstract In this paper, we discuss an innovative method of generating near-optimal trajectories for a robot with omni-directional drive capabilities, taking into account the dynamics of the actuators and the system. The relaxation of optimality results in immense computational savings, critical in dynamic environments. In particular, a decoupling strategy for each of the three degrees of freedom of the vehicle is presented, along with a method for coordinating the degrees of freedom. A nearly optimal trajectory for the vehicle can typically be calculated in less than 1000 floating point operations, which makes it attractive for real-time control in dynamic and uncertain environments.

scholarly journals Virtualization of Robotic Hands Using Mobile Devices †

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 81
Author(s):  
Santiago T. Puente ◽  
Lucía Más ◽  
Fernando Torres ◽  
and Francisco A. Candelas
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Hand ◽  
Robot Hand ◽  
Real Time Control ◽  
Robotic Hands ◽  
Robot Operating System ◽  
Server Side ◽  
Time Control ◽  
Unity 3D ◽  
Real Robot

This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

The Algorithm of Redundant Robotic Kinematics Based on Exponential Product

2011 ◽  
Vol 58-60 ◽  
pp. 1902-1907 ◽  
Author(s):  
Xin Fen Ge ◽  
Jing Tao Jin
Keyword(s):  
Real Time ◽  
Inverse Kinematics ◽  
Screw Theory ◽  
Product Formula ◽  
Real Time Control ◽  
Time Control ◽  
Direct Kinematics ◽  
Product Formulas

The intrinsically redundant series manipulator’s kinematics were studied by the exponential product formula of screw theory, the direct kinematics problem and Inverse kinematics problems were analyzed, and the intrinsically redundant series manipulator’s kinematics solution that based on exponential product formulas were proposed; the intrinsically redundant series manipulator’s kinematics is decomposed into several simple sub-problems, then analyzed sub-problem, and set an example to validate the correctness of the proposed method. Finally, comparing the exponential product formula and the D-H parameters, draw that they are essentially the same in solving the manipulator’s kinematics, so as to the algorithm of the manipulator’s kinematics based on exponential product formulas are correct, and the manipulator’s kinematics process based on exponential product formula is more simple and easier to real-time control of industrial.

An object-oriented concept for real-time control of an FMS

1993 ◽  
Vol 1 (4) ◽  
pp. 691-698 ◽  
Author(s):  
J. Fogel ◽  
J. Sebestyénová
Keyword(s):  
Real Time ◽  
Object Oriented ◽  
Real Time Control ◽  
Time Control

Dynamic Control of Curve-Constrained Hyper-Redundant Manipulators

2004 ◽  
Vol 16 (1) ◽  
pp. 1-7 ◽  
Author(s):  
Shugen Ma ◽  
◽  
Mitsuru Watanabe ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Dynamic Control ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Real Time Control ◽  
Feed Forward ◽  
Manipulator Dynamics ◽  
Time Control ◽  
Control Scheme ◽  
Feed Forward Controller

Hyper-redundant manipulators have high number of kinematic degrees of freedom, and possess unconventional features such as the ability to enter narrow spaces while avoiding obstacles. To control these hyper-redundant manipulators accurately, manipulator dynamics should be considered. This is, however, time-comsuming and makes implementation of real-time control difficult. In this paper, we propose a dynamic control scheme for hyper-redundant manipulators, which is based on analysis in defined posture space where three parameters were used to determine the manipulator posture. Manipulator dynamics are modeled on the parameterized form with the parameter of the posture space path. The posture space path-tracking feed-forward controller is then formulated on the basis of a parameterized dynamic equation. Computer simulation, in which a hyper-redundant manipulator traces the posture space path well by using the proposed feed-forward controller, proved that the hyper-redundant manipulator tracks the workspace path accurately.

Redundancy Parameterization for Flexible Motion Control

2010 ◽  
Author(s):  
B. Moore ◽  
E. Oztop
Keyword(s):  
Finite Number ◽  
Inverse Kinematics ◽  
Infinitely Many Solutions ◽  
Redundant Manipulators ◽  
Real Time Control ◽  
End Effector ◽  
Human Control ◽  
Time Control ◽  
Swivel Angle ◽  
Self Motion

Our overall research interest is in synthesizing human like reaching and grasping using anthropomorphic robot hand-arm systems, as well as understanding the principles underlying human control of these actions. When one needs to define the control and task requirements in the Cartesian space, the problem of inverse kinematics needs to be solved. For non-redundant manipulators, a desired end-effector position and orientation can be achieved by a finite number of solutions. For redundant manipulators however, there are in general infinitely many solutions where the cardinality of the solution set must be made finite by imposing certain constraints. In this paper, we consider the Mitsubishi PA10 manipulator which is similar to the human arm, in the sense that both wrist and shoulder joints can be considered to emulate a 3DOF ball joint. We explicitly derive the analytic solution for the inverse kinematics using quaternions. Then, we derive a parameterization in terms of a pure quaternion called the swivel quaternion. The swivel quaternion is similar to the elbow swivel angle used in most approaches, but avoid the computation of inverse trigonometric functions. This parameterization of the self-motion manifold is continuous with any end-effector motion. Given the pose of the end-effector and the swivel quaternion (or swivel angle), the algorithm derives all solution of the inverse kinematics (finite number). We then show how the parameterization of the elbow self-motion can be used for the real-time control of the PA10 manipulator in the presence of obstacles.

Design and its characteristic analysis of a wheeled train uncoupling robot with multi-degrees-of-freedom

2015 ◽  
Vol 230 (10) ◽  
pp. 1673-1684 ◽  
Author(s):  
Jianjun Yao ◽  
Yuxuan Huang ◽  
Guilin Jiang ◽  
Shuang Gao ◽  
Rui Xiao ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Vital Role ◽  
Real Time Control ◽  
Characteristic Analysis ◽  
Time Control ◽  
Operational Space ◽  
Wheeled Robot ◽  
Marshalling Yard ◽  
Cargo Transportation

Freight trains play a vital role in cargo transportation in the world. The freight cars need to be redistributed for marshalling according to different destinations in the hump yard. Humans are usually employed to uncouple the freight cars in the marshalling yard. However, the work environment is difficult to work in, because of its potential danger and the effects of the surrounding environment can have a very serious impact on human’s health. A wheeled robot is developed to replace humans to finish the uncoupling task. It has four degrees-of-freedom with flexible motion. Based on the D-H method, the kinematics, including the forward and the inverse kinematics, is firstly analysed. The dynamic analysis is then studied by Newton–Euler equations. The workspace is lastly investigated to verify its operational space such that the coupler can be easily reached by the robot manipulator. Those characteristic analyses provide a basis for motion planning and real-time control of the robot.

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