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Friday, July 31, 2020 | History

4 edition of Model identification of a reconfigurable robot manipulator found in the catalog.

Model identification of a reconfigurable robot manipulator

Shiyi Jia

Model identification of a reconfigurable robot manipulator

by Shiyi Jia

  • 291 Want to read
  • 36 Currently reading

Published by National Library of Canada in Ottawa .
Written in English


Edition Notes

Thesis (M.A.Sc.)--University of Toronto, 1993.

SeriesCanadian theses = Thèses canadiennes
The Physical Object
FormatMicroform
Pagination2 microfiches : negative.
ID Numbers
Open LibraryOL15136394M
ISBN 100315871091
OCLC/WorldCa46532276

Equation (5) represents a parametric model in terms of α i, p ix and p iy that can be used to describe the branch constraint equations for all configurations of the reconfigurable robot. Depending on the robot configuration, constraint equations must be solved in order to define the motion of the moving platform. Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms - Volume 27 Issue 2 - Z. Li, W. W. Melek, C. Clark.

The existence of singular positions inside the robot workspace is an inherent problem for task planning and robot control. At manipulator configurations near singular positions, very large joint mo. Zhao et al. investigated an FDI scheme based on a sliding mode observer for reconfigurable manipulator with sensor fault. And for the actuator fault identification, an unknown input state observer was exploited. In our previous work, a sensor fault identification scheme was concerned, rather than a fault tolerant control. Different from it, in.

Direct fuzzy adaptive control and nonparametric identification of robot manipulator with elastic joints On Robustness and Perfect Tracking with Simple Adaptive Control in Nonlinear Systems IFAC-PapersOnLine, Vol. 50, No. 1. dynamics, and control of robot manipulators. The current book is an attempt to provide this formulation not just for a single robot but also for multifingered robot hands, involving multiple cooperating robots. It grew from our efforts to teach a course to a hybrid audience of electrical.


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Model identification of a reconfigurable robot manipulator by Shiyi Jia Download PDF EPUB FB2

The issue of model identification of an advanced modular and reconfigurable robot system, the IRIS Facility, is addressed. Theoretical insights into the methodology of parameter estimation are developed and the theory is applied experimentally to the IRIS Facility.

In the theoretical study, the classical least squares (LS) algorithm is by: 2. A calibration procedure for a reconfigurable Gough-Stewart parallel manipulator is proposed. • Geometrical identification is achieved through distance measurements.

• A general mathematical model for calibration is introduced. • The calibration procedure is validated on a reconfigurable : Matteo Russo, Xin Dong. Model-Based Control of a Robot Manipulator presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.

The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant Cited by:   In this paper several aspects regarding the workspace analysis and singularity identification of a reconfigurable parallel robot are presented.

Using the developed kinematic model, the reconfigurable parallel robot singularities within the generated workspace are by: 6. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory.

Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical by: 7. The Analysis and Application of Parallel Manipulator for Active Reflector of FAST; A Reconfigurable Mobile Robots System Based on Parallel Mechanism; Hybrid Parallel Robot for the Assembling of ITER; Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot; A Novel 4-DOF Parallel Manipulator H4; Human Hand as a.

Download Citation | IMU-based manipulator kinematic identification | Reconfigurable robots have the potential for use on a much wider range of tasks than a typical, fixed-configuration robot.

Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure.

No other publication covers the three fundamental issues of robotics: modelling, identification and control. Jagadeesh B and Kurien Issac K () Identification for the robust control of robot manipulators, International Journal of Adaptive Control and Signal Processing,(), Online publication date: 1.

Once the equations of motion for a manipulator are known, the inverse problem can be treated: the control of a robot manipulator entails finding actuator forces which cause the manipulator to move along a given tra-jectory.

If we have a perfect model of the dynamics of the manipulator, we can find the proper joint torques directly from this. A 6-DOF reconfigurable parallel robot, based on the patent [35], was developed with co-operation between Technical University of Braunschweig, Germany, and Technical University of Cluj-Napoca.

The objective of our S-Model identification algorithm is to estimate the S-Model kinematic parameters from a set of mechanical features which are inherent to the manipulator. Each revolute joint possesses two such features and each prismatic joint possesses one.

Li Z, Melek WW, Clark C () Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms.

Robotica 27(2)– CrossRef Google Scholar. This paper proposes a method for optimizing rectilinear tasks on a 3 degrees-of-freedom (DoF) modular serial metamorphic manipulator.

The overall experimental process was designed. Model-Based Control of a Robot Manipulator presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.

The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant implications.

The robot geometry we consider here is branching type without loops. A graph technique, termed kinematic graphs and realized through assembly incidence matrices (AIM) is introduced to represent the module assembly sequence and robot geometry. The formulation of the dynamic model is started with recursive Newton-Euler algorithm.

DYNAMIC MODEL IDENTIFICATION OF ROBOT MANIPULATORS: SOLVING THE PHYSICAL FEASIBILITY PROBLEM Setembro de Tese de doutoramento em Engenharia Electrotécnica e de Computadores, Ramo de Especialização em Automação e Robótica, orientada pelo Senhor Professor Doutor Rui Pedro Duarte Cortesão e apresentada ao Departamento de.

Abstract: This paper presents a novel approach to the modeling and identification of elastic robot joints with hysteresis and backlash. The model captures the dynamic behavior of a rigid robotic manipulator with elastic joints. The model includes electromechanical submodels of the motor and gear from which the relationship between the applied torque and the joint torsion is identified.

IMU-based manipulator kinematic identification Abstract: Reconfigurable robots have the potential for use on a much wider range of tasks than a typical, fixed-configuration robot because they may be modified to accommodate the specific task at hand.

Such reconfiguration, however, necessitates the generation of a new kinematics model to allow. Research on the kinematic calibration of a modular reconfigurable robot. CrossRef; Google Scholar; Feng, J Gao, F and Zhao, X Calibration of a six-DOF parallel manipulator for chromosome dissection.

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. Issue. 4, p. Dr. Emami and his team of students and engineers used MATLAB and Simulink to model the reconfigurable robot and to build the IDSE. They generated a Simulink and Simscape Multibody™ model of the robot by importing an XML representation of its CAD assembly using Simscape Multibody Link, and then added blocks for the actuators and other electronic components from Simscape .Model Based Systems Engineering (MBSE) provides a simplified representation to model a given mobile manipulator system.

Specifically, Systems Modeling Language (SysML) is a graphical modeling language that supports the “specification, analysis, design, verification, and validation of systems that include hardware, software, data, personnel.In general, a standard robot identification procedure consists of modeling, experiment design, data acquisition, signal processing, parameter estimation, and model validation [1].

The mathematical model of a robotic manipulator can be obtained from analytical mechanics like using Lagrangian equation.