High-Speed Motion Control of Mechanisms under Average Heat Generation Restriction. 2nd Report. Minimum Time Trajectory Planning of Robotic Manipulator and Calculated Examples of Two Degrees-of-Freedom System.

Abstract An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.

Download Full-text

Two-Degrees-of-freedom Control for High-Speed and Highly Precise Linear Actuator on Spinstand

The Journal of The Institute of Image Information and Television Engineers ◽

10.3169/itej.60.1095 ◽

2006 ◽

Vol 60 (7) ◽

pp. 1095-1101

Author(s):

Akihiro Naganawa ◽

Masashi Fujieda ◽

Shigeki Mori ◽

Takayuki Hoshino ◽

Goro Obinata ◽

...

Keyword(s):

High Speed ◽

Degrees Of Freedom ◽

Linear Actuator ◽

Two Degrees Of Freedom

Download Full-text

A Novel Two-Degrees-of-Freedom Voice Coil Motor and its PID Controllers for Linear and Rotary Motions

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.303-306.1635 ◽

2013 ◽

Vol 303-306 ◽

pp. 1635-1640

Author(s):

Xi Qing Jia ◽

Shou Bin Liu

Keyword(s):

Pid Control ◽

High Speed ◽

Control Algorithm ◽

Degrees Of Freedom ◽

Voice Coil Motor ◽

Settling Time ◽

Servo Control ◽

Pid Controllers ◽

Two Degrees Of Freedom ◽

Actual Environment

A two-degrees-of-freedom voice coil motor and its control system are proposed for linear and rotary motions with high speed. This VCM consists of two individual motion parts driven by two separated DSP embedded controllers. For servo control of the VCM, an improved PID control algorithm is adopted. The performance of the control algorithm is evaluated under actual environment. When the targets of position and angle are set at 5mm and 15°, the time response shows 48ms and 70.4ms settling time with 5μm and 3’ steady state error without overshoot. Settling time is reduced to 36% as compared to that of original PID controller.

Download Full-text

Minimum-Time Control of a Manipulator with Two-Degrees of Freedom

Bulletin of JSME ◽

10.1299/jsme1958.26.1404 ◽

1983 ◽

Vol 26 (218) ◽

pp. 1404-1410 ◽

Cited By ~ 20

Author(s):

Osamu SATO ◽

Hiroshi SHIMOJIMA ◽

Yoshiyuki KITAMURA

Keyword(s):

Degrees Of Freedom ◽

Minimum Time ◽

Two Degrees Of Freedom ◽

Time Control

Download Full-text

Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

Volume 5C: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-46292 ◽

2015 ◽

Cited By ~ 4

Author(s):

S. Caro ◽

D. Chablat ◽

P. Lemoine ◽

P. Wenger

Keyword(s):

Trajectory Planning ◽

Kinematic Analysis ◽

High Speed ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Inverse Kinematic ◽

Hybrid Architecture ◽

Parallel Kinematic Machine ◽

Control Loop ◽

Parallel Kinematic

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Orthoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kinematic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.

Download Full-text