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Keselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.
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Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.
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Altay, Alkan. "Steering Of Redundant Robotic Manipulators And Spacecraft Integrated Power And Attitude Control - Control Moment Gyroscopes." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607043/index.pdf.
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In this thesis, recently developed Blended Inverse (B-inverse) steering law is
applied to two different redundant actuator systems. First, repeatability of Binverse
is demonstrated on a redundant robotic manipulator. Its singularity
avoidance and singularity transition performance is also demonstrated on the same
actuator system. It is shown that B-inverse steering law provides singularity
avoidance, singularity transition and repeatability. Second, its effectiveness is
demonstrated for an Integrated Power and Attitude Control - Control Moment
Gyroscope (IPAC-CMG) cluster, which can perform energy management and
attitude control functions simultaneously. For this purpose, an IPAC-CMG
flywheel is conceptually designed. A control policy is developed for the energy
management.
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Ananthanarayanan, Hariharan Sankara. "Complete Path Planning of Higher DOF Manipulators in Human Like Environments." University of Dayton / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1445972852.
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Pretto, Isacco. "Base Reaction Control of Space Manipulators." Doctoral thesis, Università degli studi di Padova, 2010. http://hdl.handle.net/11577/3427040.
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In this thesis a research activity is presented, concerning matters of dynamics and control of robot manipulators for space robotics applications. In particular, kinematic control principles suitable for the realization of trajectory-tracking manoeuvres are considered for manipulators in the kinematic redundancy condition, that is typically available on actual space robotic systems. A well known characteristic of space manipulators is due to the dynamic coupling that arises between the manipulator motion and the motion of the base spacecraft on which the manipulator is mounted, due to action-reaction exchanges between the subsystems, and to the characteristics of their momentum equations that determine the non-holonomic nature of the system. This coupling determines dynamic disturbances generated by the manipulator during operation. It reveals important to control these disturbances in order to respect the pointing requirements of the spacecraft, for what concerns communications, on-board instrumentation, and solar panels orientation, and also for what concerns restrictions on the admissible acceleration disturbances exerted on the base platform, that in particular can be imposed during experimental micro-gravity activities onboard the space station.
Fundamental objective of the kinematic control schemes developed in this work is to achieve an optimization of the possible joint trajectories that command the movement of the arm, in order to minimize the dynamic disturbances exerted on the platform, which is possible thanks to a balanced coordination of the arm internal motions, that compensates for its momentum variations that are produced during a trajectory-tracking manoeuvre. Original formulations for the base reaction control are presented and analyzed, and the problem is set in the mathematical framework of constrained least squares methods, while the kinematic control is resolved at the joint acceleration level, in order to attain an effective expressions of the kinematic and dynamic variables involved. The proposed principles reveal suitable for real-time space applications, thanks to the local formulation of the optimization problems and to the use of stable and consolidated solution routines. Analysis and validation of the proposed laws have been developed be means of an experimental test campaign on a planar robot manipulator prototype with three degrees-of-freedom, suspended by air bearings on a flat granite plane, in order to simulate the microgravity environment. In particular a series of trajectory-tracking tests have been performed with dynamic measurements of the resultant base reactions. The analysis is completed by means of a robot simulator system, that has been developed by reproducing the geometrical and inertial characteristics of the experimental prototype. The performance of the control laws have been evaluated both in the fixed base condition, and in the free-floating base condition, and in this case an evaluation on the influence of the inertial parameters involved have been carried out. An independent research activity was related to the application of optimization methods for contact forces control of a bio-inspired climbing robots with dry adhesive pads. Control principles are presented, and their performances evaluated by means of a robot simulator and validated through an experimental robot prototype.<br>In questa tesi è presentato un lavoro di ricerca sulla dinamica ed il controllo di bracci robotici per applicazioni spaziali. In particolare, sono proposti dei principi di controllo cinematico adatti all'inseguimento di traiettorie nello spazio operativo del manipolatore in condizioni di ridondanza cinematica, le quali sono tipicamente disponibili negli attuali sistemi robotici spaziali. Caratteristica meccanica peculiare delle applicazioni di robotica orbitale è l'accoppiamento dinamico che si verifica tra il moto del braccio ed il moto della piattaforma satellitare sulla quale è montato, dovuto agli scambi di azione e reazione che i due sottosistemi si scambiano tra di loro ed alla natura non-olonomica del sistema. Tale accoppiamento è causa di disturbi dinamici esercitati dal manipolatore in fase di operazione, che è necessario controllare in modo da ottemperare sia ai requisiti di puntamento del satellite per quanto riguarda le comunicazioni, la strumentazione di bordo, e l'orientazione dei pannelli solari, sia alle restrizioni sui disturbi di accelerazione impartiti alla piattaforma, che in particolare possono essere imposte durante attività sperimentali in microgravità a bordo della stazione spaziale. Obiettivo fondamentale degli schemi di controllo cinematico sviluppati in questo lavoro, è quello di realizzare una ottimizzazione delle possibili traiettorie di giunto che comandano il movimento del braccio, in modo da minimizzare il disturbo dinamico esercitato sulla piattaforma, reso possibile attraverso la coordinazione dei movimenti interni del braccio, i quali compensino le variazioni di momento che si producono in questo durante l'inseguimento di traiettoria. Formulazioni originali di controllo delle reazioni sono presentate ed analizzate, attraverso il supporto matematico dei metodi ai minimi quadrati vincolati, mentre il controllo cinematico è risolto al livello delle accelerazioni di giunto, in modo da poter esprimere in maniera efficace le grandezze cinematiche e dinamiche coinvolte. I principi proposti si rivelano adatti per l'implementazione in tempo reale in applicazioni spaziali, grazie all'impostazione dei problemi in forma locale ed alla possibilità di utilizzo di algoritmi numerici stabili e consolidati. L'analisi e la validazione delle leggi proposte è stata effettuata attraverso prove sperimentali su un manipolatore planare sperimentale a tre gradi di libertà, sospeso su cuscinetti d'aria in modo da simulare l'ambiente di microgravità, con il quale sono state effettuate prove di inseguimento con misure dinamiche dei disturbi di reazione. L'analisi sperimentale è accompagnata dallo sviluppo di un ambiente di simulazione, il quale riproduce le caratteristiche geometriche ed inerziali del robot sperimentale. Le prestazioni delle leggi di controllo sono state valutate sia per le condizioni di vincolo a base fissa, che di base libera, ed in quest'ultimo caso sono state effettuate valutazioni rispetto all'influenza dei parametri inerziali coinvolti. Una parte indipendente del lavoro, riguarda infine l'applicazione di metodi di ottimizzazione per il controllo delle forze di adesione, adatti al controllo di robot arrampicatori, i quali sfruttano l'utilizzo di sistemi di adesione secca in modo da aumentare l'aderenza alla superficie. I principi di controllo sono testati attraverso un simulatore ed i risultati validati in un robot prototipo sperimentale.
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Ayten, Kagan Koray. "Optimum trajectory planning for redundant manipulators through inverse dynamics." Thesis, University of Bath, 2012. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665377.
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The purpose of this thesis is to develop methods to generate minimum-energy consumption trajectories for a point-to-point motion under pre-defined kinematic and dynamic constraints for robotic manipulators. With respect to other trajectory optimization methods, the work presented in this thesis provides two new methods to the scientific literature. The proposed methods improve the handling of the constraints in trajectory optimization methods as well as reducing the computational complexity of redundant/hyper-redundant manipulator systems.
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Chan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.
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Pohl, Eric David. "On mappings of complex inverse kinematics solutions." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/18362.
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Anderson, Karen 1959. "Inverse kinematics of robot manipulators in the presence of singularities and redundancies." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66208.
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Cordle, William H. "Numerical inverse kinematics for a six-degree-of-freedom manipulator." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-12052009-020222/.
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Fontinele, Humberto Ãcaro Pinto. "Local models for inverse kinematics approximation of redundant robots: a performance comparison." Universidade Federal do CearÃ, 2015. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=16727.
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nÃo hÃ<br>In this dissertation it is reported the results of a comprehensive comparative study involving six local models applied to the task of learning the inverse kinematics of three redundant robotic arm (planar, PUMA 560 and Motoman HP6). The evaluated algorithms are the following ones: radial basis functions network (RBFN), local model network (LMN), SOMbased local linear mapping (LLM), local linear mapping over k-winners (K-SOM), local weighted regression (LWR) and counter propagation (CP). Each algorithm is evaluated with respect to its accuracy in estimating the joint angles given the cartesian coordinates which comprise end-effector trajectories within the robot workspace. A comprehensive evaluation of the performances of the aforementioned algorithms is carried out based on correlation analysis of the residuals. Finally, hypothesis testing procedures are also executed in order to verifying if there are significant differences in performance among the best algorithms.<br>Nesta dissertaÃÃo sÃo reportados os resultados de um amplo estudo comparativo envolvendo seis modelos locais aplicados à tarefa de aproximaÃÃo do modelo cinemÃtico inverso de 3 robÃs manipuladores (planar, PUMA 560 e Motoman HP6). Os modelos avaliados sÃo os seguintes: rede de funÃÃes de base radial (RBFN), rede de modelos locais (LMN), mapeamento linear local baseado em SOM (LLM), mapeamento linear local usando K vencedores (KSOM), regressÃo local ponderada (LWR) e rede counterpropagation (CP).
Estes algoritmos sÃo avaliados quanto à acurÃcia na estimaÃÃo dos Ãngulos das juntas dos robÃs manipuladores em experimentos envolvendo a geraÃÃo de vÃrios tipos de trajetÃrias no espaÃo de trabalho dos referidos robÃs. Uma avaliaÃÃo abrangente do desempenho de cada algoritmo à feita com base na anÃlise dos resÃduos e testes de hipÃteses sÃo realizados para verificar a semelhanÃa estatistica entre os desempenhos dos melhores algoritmos.
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Tsai, Yusheng T. "A strictly convergent, real-time solution for inverse kinematics for robot manipulators /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546984588.
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Grudić, Gregory Z. "Iterative inverse kinematics with manipulator configuration control and proof of convergence." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/42018.
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A complete solution to the inverse kinematics problem for a large class of practical manipulators,
which includes manipulators with no closed form inverse kinematics equations, is presented in this
thesis. A complete solution to the inverse kinematics problem of a manipulator is defined as a method
for obtaining the required joint variable values to establish the desired endpoint position, endpoint
orientation, and manipulator configuration; the only requirement being that the desired solution
exists. For all manipulator geometries that satisfy a set of conditions (THEOREM I), an algorithm
is presented that is theoretically guaranteed to always converge to the desired solution (if it exists).
The algorithm is extensively tested on two complex 6 degree of freedom manipulators which have no
known closed form inverse kinematics equations. It is shown that the algorithm can be used in real
time manipulator control. Applications of the method to other 6 DOF manipulator geometries and to
redundant manipulators are discussed.<br>Applied Science, Faculty of<br>Electrical and Computer Engineering, Department of<br>Graduate
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Neppalli, Srinivas. "Design, construction, inverse kinematics, and visualization of continuum robots." Master's thesis, Mississippi State : Mississippi State University, 2008. http://library.msstate.edu/etd/show.asp?etd=etd-10312008-144310.
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Rosales, Peña Alfaro Eric Manuel. "Inverse kinematics modelling and control of robotic manipulators with high degrees of freedom." Thesis, University of Essex, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.421153.
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Leong, Sio Hong. "Kinematics control of redundant manipulators using CMAC neural networks combined with Descent Gradient Optimizers & Genetic Algorithm Optimizers." Thesis, University of Macau, 2003. http://umaclib3.umac.mo/record=b1446170.
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Espinoza, Mario Sáenz. "Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods (a comparative study)." Master's thesis, Instituto Politécnico de Bragança, Escola Superior de Tecnologia e Gestão, 2012. http://hdl.handle.net/10198/8027.
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The present work describes and compares several approaches applied to compute the inverse
kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are
based on an exhaustive method and several error-optimization algorithms. The algorithms’ performance
was evaluated based on two criteria: computational processing time and final actuator
positioning error.
The results obtained show that for a small number of modules (less or equal to four), the exhaustive
method provides the best problem solution: acceptable computational processing time
as well as minimum error. However, for larger number of modules, the error-optimization approach
has far better performance regarding the error to processing time ratio.
The mentioned hyper-redundant robot was projected to be used in biomedical applications. O presente trabalho descreve e compara diferentes abordagens para a obtenção da cinemática
inversa de um robot hiper-redundante com dez graus de liberdade. As abordagens propostas
são baseadas nos métodos exaustivo e da optimização do erro cometido. O desempenho dos
algoritmos foi avaliado segundo os critérios de velocidade de processamento e erro de posição e
orientação do actuador final.
Os resultados obtidos mostram que para um número pequeno de módulos (igual ou menor
que quatro) o método exaustivo fornece a melhor solução: tempo de processamento computacional
aceitável e erro mínimo. No entanto, para um número maior de módulos, a abordagem
de optimização do erro tem um melhor desempenho com respeito à relação entre o tempo de
processamento e o erro final.
O robot hiper-redundante mencionado está projectado para aplicações biomédicas. El presente trabajo describe y compara distintos abordajes aplicados para calcular la cinemática
inversa de un robot hiper-redundante con diez grados de libertad. Los abordajes propuestos
están basados en los métodos exhaustivo y de optimización del error. El desempeño de los algoritmos
fue evaluado basándose en los criterios de velocidad de procesamiento y error tanto de
posición como de orientación del actuador final.
Los resultados obtenidos muestran que para un número pequeño de módulos (igual o menor
que cuatro) el método exhaustivo provee la mejor solución: tiempo de procesamiento computacional
aceptable y error mínimo. Sin embargo, para un número mayor de módulos, el abordage
de optimización del error tiene un mucho mejor desempeño con respecto a la relación de tiempo
de procesamiento y el error final.
El robot hiper-redundante mencionado está proyectado para aplicaciones biomédicas.
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Kuriger, Rex J. "Kinematics, statics, and dexterity of planar active scaffolding structures." Ohio : Ohio University, 1997. http://www.ohiolink.edu/etd/view.cgi?ohiou1177095329.
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Panchea, Adina. "Inverse optimal control for redundant systems of biological motion." Thesis, Orléans, 2015. http://www.theses.fr/2015ORLE2050/document.
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Cette thèse aborde les problèmes inverses de contrôle optimal (IOCP) pour trouver les fonctions de coûts pour lesquelles les mouvements humains sont optimaux. En supposant que les observations de mouvements humains sont parfaites, alors que le processus de commande du moteur humain est imparfait, nous proposons un algorithme de commande approximative optimale. En appliquant notre algorithme pour les observations de mouvement humaines collectées: mouvement du bras humain au cours d'une tâche de vissage industrielle, une tâche de suivi visuel d’une cible et une tâche d'initialisation de la marche, nous avons effectué une analyse en boucle ouverte. Pour les trois cas, notre algorithme a trouvé les fonctions de coût qui correspondent mieux ces données, tout en satisfaisant approximativement les Karush-Kuhn-Tucker (KKT) conditions d'optimalité. Notre algorithme offre un beau temps de calcul pour tous les cas, fournir une opportunité pour son utilisation dans les applications en ligne. Pour la tâche de suivi visuel d’une cible, nous avons étudié une modélisation en boucle fermée avec deux boucles de rétroaction PD. Avec des données artificielles, nous avons obtenu des résultats cohérents en termes de tendances des gains et les critères trouvent par notre algorithme pour la tâche de suivi visuel d’une cible. Dans la seconde partie de notre travail, nous avons proposé une nouvelle approche pour résoudre l’IOCP, dans un cadre d'erreur bornée. Dans cette approche, nous supposons que le processus de contrôle moteur humain est parfait tandis que les observations ont des erreurs et des incertitudes d'agir sur eux, étant imparfaite. Les erreurs sont délimitées avec des limites connues, sinon inconnu. Notre approche trouve l'ensemble convexe de de fonction de coût réalisables avec la certitude qu'il comprend la vraie solution. Nous numériquement garanties en utilisant des outils d'analyse d'intervalle<br>This thesis addresses inverse optimal control problems (IOCP) to find the cost functions for which the human motions are optimal. Assuming that the human motion observations are perfect, while the human motor control process is imperfect, we propose an approximately optimal control algorithm. By applying our algorithm to the human motion observations collected for: the human arm trajectories during an industrial screwing task, a postural coordination in a visual tracking task and a walking gait initialization task, we performed an open loop analysis. For the three cases, our algorithm returned the cost functions which better fit these data, while approximately satisfying the Karush-Kuhn-Tucker (KKT) optimality conditions. Our algorithm offers a nice computational time for all cases, providing an opportunity for its use in online applications. For the visual tracking task, we investigated a closed loop modeling with two PD feedback loops. With artificial data, we obtained consistent results in terms of feedback gains’ trends and criteria exhibited by our algorithm for the visual tracking task. In the second part of our work, we proposed a new approach to solving the IOCP, in a bounded error framework. In this approach, we assume that the human motor control process is perfect while the observations have errors and uncertainties acting on them, being imperfect. The errors are bounded with known bounds, otherwise unknown. Our approach finds the convex hull of the set of feasible cost function with a certainty that it includes the true solution. We numerically guaranteed this using interval analysis tools
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Kuhlemann, Ivo [Verfasser], Achim [Akademischer Betreuer] Schweikard, and Erik [Gutachter] Maehle. "Methods for quasi-static tasks with redundant manipulators : advances in kinematics, dexterity and sensitivity / Ivo Kuhlemann ; Gutachter: Erik Maehle ; Akademischer Betreuer: Achim Schweikard." Lübeck : Zentrale Hochschulbibliothek Lübeck, 2020. http://d-nb.info/1207039535/34.
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Poling, Dana B. "Spherically-actuated platform manipulator." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1172775949.
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Diniz, Ãber de Castro. "Use of three-phase induction motors in an articulated manipulator of 2-dof considering the strategies of vector control and slidnig mode control." Universidade Federal do CearÃ, 2013. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=10710.
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This paper proposes the position control of an articulated manipulator of two degrees of freedom driven by induction motors with a controller in the current loop. The work includes the mechanical modeling of the handler that will be developed from the direct and inverse kinematics and position control of induction motors operating system and uncoupled allocated in the manipulator. Thus, we developed two strategies for control of manipulators with two degrees of freedom, one using the scheme for field-oriented vector control and other means of indirect sliding mode control (Sliding-Mode Control - SMC). These control strategies are applied to current loop of induction motors that drive the manipulator. The parameters of the position controller of manipulator are taken into account in calculating the controller parameters of the current control loop, in order to obtain satisfactory results in the positioning the degrees of freedom. In addition, we performed a comparative study between the indirect field-oriented vector control and sliding mode control applied to the current loop. The advantage of the SMC compared to the indirect field-oriented vector control due to the first had in its control law, developed in this thesis, the use of position degree of freedom manipulator applied directly in the control law, while the second acted only as a disturbed rejection controller for the position loop. The Proportional-Integral (PI) was used in the position and speed loops for both current control algorithms to provide a standard for comparison between. For the purpose of implementing the control system individually for each engine and motors coupled to the manipulator used a digital signal processor.<br>O presente trabalho propÃe o controle de posiÃÃo de um manipulador articulado de dois graus de liberdade acionado a partir de motores de induÃÃo trifÃsicos com um controlador na malha de corrente. O trabalho contempla a modelagem mecÃnica do manipulador que serà desenvolvida a partir das cinemÃticas direta e inversa e o controle de posiÃÃo dos motores de induÃÃo atuando desacoplados do sistema e alocados no manipulador. Deste modo, foram desenvolvidas duas estratÃgias de controle de manipuladores com dois graus de liberdade, uma utilizando o esquema por controle vetorial de campo orientado indireto e outra atravÃs de controle por modos deslizantes (Sliding Mode Control â SMC). Estas estratÃgias de controle sÃo aplicadas a malha de corrente dos motores de induÃÃo que acionam o manipulador. Os parÃmetros do controlador de posiÃÃo dos manipuladores sÃo levados em consideraÃÃo no cÃlculo dos parÃmetros do controlador da malha de controle de corrente, de modo a se obter resultados satisfatÃrios no posicionamento dos graus de liberdade. AlÃm disso, foi realizado um estudo comparativo entre o controle vetorial de campo orientado indireto e o controle de modos deslizantes aplicado na malha de corrente. A vantagem do SMC em relaÃÃo ao controle vetorial de campo orientado indireto deveu-se a que o primeiro possuÃa em sua lei de controle desenvolvida nesta tese a utilizaÃÃo direta da posiÃÃo do grau de liberdade do manipulador, enquanto que o segundo atuava somente como um controlador com rejeiÃÃo ao distÃrbio. O controlador Proporcional-Integral (PI) foi utilizado nas malhas de posiÃÃo e velocidade de modo a fornecer um padrÃo de comparaÃÃo confiÃvel entre os controladores de corrente. Com a finalidade de implementar o sistema de controle de cada motor individualmente e dos motores acoplados ao manipulador utilizou-se um processador digital de sinais.
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Nunes, Ricardo Fernando [UNESP]. "Mapeamento da cinemática inversa de um manipulador robótico utilizando redes neurais artificiais configuradas em paralelo." Universidade Estadual Paulista (UNESP), 2016. http://hdl.handle.net/11449/138302.
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Previous issue date: 2016-03-31<br>Neste trabalho apresenta-se uma abordagem para o mapeamento da cinemática inversa utilizando Redes Neurais Artificiais do tipo Perceptron Multicamadas na configuração em paralelo, tendo como referência o protótipo de um manipulador robótico de 5 graus de liberdade, composto por sete servomotores controlado pela plataforma de desenvolvimento Intel® Galileo Gen 2. As equações da cinemática inversa, normalmente apresentam múltiplas soluções, desta forma, uma solução interessante e frequentemente encontrada na literatura são as Redes Neurais Artificiais (RNA) em razão da sua flexibilidade e capacidade de aprendizado por meio do treinamento. As Redes Neurais são capazes de entender a relação cinemática entre o sistema de coordenadas das juntas e a posição final da ferramenta do manipulador. Para avaliar a eficiência do método proposto foram realizadas simulações no software MATLAB, as quais demostram pelos resultados obtidos e comparações a uma RNA do tipo MLP simples, aproximadamente redução das médias dos erros das juntas em até 87,8% quando aplicado à trajetória e 80% quando aplicado a pontos distribuídos no volume de trabalho.<br>This paper presents an approach to the mapping of inverse kinematics using Artificial Neural Networks Multilayer Perceptron in parallel configuration, in the prototype of a robotic manipulator 5 degrees of freedom, as reference, composed of seven servomotors controlled by development board Intel® Galileo Gen 2. The equations of inverse kinematics, usually have multiple solutions, therefore, an interesting solution and often found in the literature are the Artificial Neural Networks (ANN) because of their flexibility and learning capacity through training. Neural Networks are able to understand the kinematic relationship between the coordinate system of the joints and the final position of the manipulator tool. To evaluate the efficiency of the proposed, simulations in MATLAB software are performaded, that demonstrate by the results obtained and compared to a simple MLP type RNA, one reduction in mean errors of the joints by up to 87.8% when applied to the path and 80% when applied to points distributed in the work space.
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Nunes, Ricardo Fernando. "Mapeamento da cinemática inversa de um manipulador robótico utilizando redes neurais artificiais configuradas em paralelo /." Ilha Solteira, 2016. http://hdl.handle.net/11449/138302.
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Orientador: Suely Cunha Amaro Mantovani<br>Resumo: Neste trabalho apresenta-se uma abordagem para o mapeamento da cinemática inversa utilizando Redes Neurais Artificiais do tipo Perceptron Multicamadas na configuração em paralelo, tendo como referência o protótipo de um manipulador robótico de 5 graus de liberdade, composto por sete servomotores controlado pela plataforma de desenvolvimento Intel® Galileo Gen 2. As equações da cinemática inversa, normalmente apresentam múltiplas soluções, desta forma, uma solução interessante e frequentemente encontrada na literatura são as Redes Neurais Artificiais (RNA) em razão da sua flexibilidade e capacidade de aprendizado por meio do treinamento. As Redes Neurais são capazes de entender a relação cinemática entre o sistema de coordenadas das juntas e a posição final da ferramenta do manipulador. Para avaliar a eficiência do método proposto foram realizadas simulações no software MATLAB, as quais demostram pelos resultados obtidos e comparações a uma RNA do tipo MLP simples, aproximadamente redução das médias dos erros das juntas em até 87,8% quando aplicado à trajetória e 80% quando aplicado a pontos distribuídos no volume de trabalho.<br>Abstract: This paper presents an approach to the mapping of inverse kinematics using Artificial Neural Networks Multilayer Perceptron in parallel configuration, in the prototype of a robotic manipulator 5 degrees of freedom, as reference, composed of seven servomotors controlled by development board Intel® Galileo Gen 2. The equations of inverse kinematics, usually have multiple solutions, therefore, an interesting solution and often found in the literature are the Artificial Neural Networks (ANN) because of their flexibility and learning capacity through training. Neural Networks are able to understand the kinematic relationship between the coordinate system of the joints and the final position of the manipulator tool. To evaluate the efficiency of the proposed, simulations in MATLAB software are performaded, that demonstrate by the results obtained and compared to a simple MLP type RNA, one reduction in mean errors of the joints by up to 87.8% when applied to the path and 80% when applied to points distributed in the work space.<br>Mestre
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Melo, Davyd Bandeira de. "Algoritmos de aprendizagem para aproximaÃÃo da cinemÃtica inversa de robÃs manipuladores: um estudo comparativo." Universidade Federal do CearÃ, 2015. http://www.teses.ufc.br/tde_busca/arquivo.php?codArquivo=16997.
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In this dissertation it is reported the results of a comprehensive comparative study involving seven machine learning algorithms applied to the task of approximating the inverse kinematic model of 3 robotic arms (planar, PUMA 560 and Motoman HP6). The evaluated algorithm are the following ones: Multilayer Perceptron (MLP), Extreme
Learning Machine (ELM), Least Squares Support Vector Regression (LS-SVR), Minimal Learning Machine (MLM), Gaussian Processes (GP), Adaptive Network-Based Fuzzy
Inference Systems (ANFIS) and Local Linear Mapping (LLM). Each algorithm is evaluated with respect to its accuracy in estimating the joint angles given the cartesian coordinates which comprise end-effector trajectories within the robot workspace. A comprehensive evaluation of the performances of the aforementioned algorithms is carried out based on correlation analysis of the residuals. Finally, hypothesis testing procedures are also executed in order to verifying if there are significant differences in performance among the best algorithms.<br>Nesta dissertaÃÃo sÃo reportados os resultados de um amplo estudo comparativo envolvendo sete algoritmos de aprendizado de mÃquinas aplicados à tarefa de aproximaÃÃo do modelo cinemÃtico inverso de 3 robÃs manipuladores (planar, PUMA 560 e Motoman HP6). Os algoritmos avaliados sÃo os seguintes: Perceptron Multicamadas (MLP), MÃquina de Aprendizado Extremo (ELM), RegressÃo de MÃnimos Quadrados via Vetores-Suporte (LS-SVR), MÃquina de Aprendizado MÃnimo (MLM), Processos Gaussianos (PG), Sistema de InferÃncia Fuzzy Baseado em Rede Adaptativa (ANFIS) e Mapeamento Linear Local (LLM). Estes algoritmos sÃo avaliados quanto à acurÃcia na estimaÃÃo dos Ãngulos das
juntas dos robÃs manipuladores em experimentos envolvendo a geraÃÃo de vÃrios tipos de trajetÃrias no volume de trabalho dos referidos robÃs. Uma avaliaÃÃo abrangente do desempenho de cada algoritmo à feito com base na anÃlise dos resÃduos e testes de hipÃteses sÃo executados para verificar se hà diferenÃas significativas entre os desempenhos dos
melhores algoritmos.
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Spacca, Jordy Luiz Cerminaro. "Usando o Sistema de Inferência Neuro Fuzzy - ANFIS para o cálculo da cinemática inversa de um manipulador de 5 DOF /." Ilha Solteira, 2019. http://hdl.handle.net/11449/183448.
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Orientador: Suely Cunha Amaro Mantovani<br>Resumo: No estudo dos manipuladores são utilizados os conceitos da cinemática direta e a inversa. No cálculo da cinemática direta tem-se a facilidade da notação de Denavit-Hartenberg, mas o desafio maior é a resolução da cinemática inversa, que se torna mais complexa conforme aumentam os graus de liberdade do manipulador, além de apresentar múltiplas soluções. As variáveis angulares obtidas pelas equações da cinemática inversa são utilizadas pelo controlador, para posicionar o órgão terminal do manipulador em um ponto específico de seu volume de trabalho. Na busca de alternativas para contornar estes problemas, neste trabalho utilizam-se os Modelos Adaptativos de Inferência Neuro-Fuzzy - ANFIS para a resolução da cinemática inversa, por meio de simulações, para obter o posicionamento de um manipulador robótico de 5 graus de liberdade, composto por sete servomotores controlados pela plataforma de desenvolvimento Intel® Galileo Gen 2, usado como caso de estudo. Nas simulações usamse ANFIS com uma arquitetura com três e quatro funções de pertinência de entrada, do tipo gaussiana. O desempenho da arquitetura da ANFIS implementada foi comparado com uma Rede Perceptron Multicamadas, demonstrando com os resultados favoráveis a ANFIS, a sua capacidade de aprender e resolver com baixo erro quadrático médio e com precisão, a cinemática inversa para o manipulador em estudo. Verifica-se também, que a performance das ANFIS melhora, quanto à precisão dos resultados, demonstrado pelo desvio médio d... (Resumo completo, clicar acesso eletrônico abaixo)<br>Abstract: In the study of manipulator’s, the concepts of direct and inverse kinematics are used. In the computation of forward kinematics, it has of the ease of Denavit-Hartenberg notation, but the biggest challenge is the resolution of the inverse kinematics, which becomes more complex as the manipulator's degrees of freedom increase, besides presenting multiple solutions. The angular variables obtained by the inverse kinematics equations are used by the controller to position the terminal organ of the manipulator at a specific point in its work volume. In the search for alternatives to overcome these problems, in this work, the Adaptive Neuro-Fuzzy Inference Models (ANFIS) are used to solve the inverse kinematics, by means of simulations, to obtain the positioning of a robot manipulator of 5 degrees of freedom, consisting of seven servomotors controlled by the Intel® Galileo Gen 2 development platform, used as a case's study . In the simulations ANFIS's architecture are used three and four Gaussian membership functions of input. The performance of the implemented ANFIS architecture was compared to a Multi-layered Perceptron Network, demonstrating with the favorable results the ANFIS, its ability to learn and solve with low mean square error and with precision, the inverse kinematics for the manipulator under study. It is also verified that the performance of the ANFIS improves, as regards the accuracy of the results in the training process, , demonstrated by the mean deviation of the... (Complete abstract click electronic access below)<br>Mestre
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Lin, Chun-ming, and 林俊明. "Inverse Kinematics and Trajectory Planning of 7-DOF Redundant Manipulators." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/84633522478971440791.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>101<br>A specific position and orientation in task space can be reached by infinite number of configurations for a redundant manipulator. Thus the kinematic or dynamic performance can be significantly improved and different types of optimal paths can be developed in trajectory planning. Optimization methods are commonly used to obtain the inverse kinematic solutions of a redundant manipulator. Those numerical approaches are generally difficult, complicated and might not get the real optimum solutions. This work first presents methods to transform a 7-DOF redundant manipulator into a 6-DOF industrial manipulator and then find the inverse kinematic solutions by solving quadratic equations. The inverse kinematic solutions of the original 7-DOF redundant manipulator can be easily developed from the solutions of the 6-DOF manipulator. The proposed methods are then employed to search for optimal solutions or optimal paths in trajectory planning. Different types of optimal paths can be developed by searching through a small subspace of the joint space, and the closeness to a singular position can be checked simultaneously in the searching process.
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"Recurrent neural networks for inverse kinematics and inverse dynamics computation of redundant manipulators." 1999. http://library.cuhk.edu.hk/record=b5889901.
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Tang Wai Sum.<br>Thesis (M.Phil.)--Chinese University of Hong Kong, 1999.<br>Includes bibliographical references (leaves 68-70).<br>Chapter 1 --- Introduction --- p.1<br>Chapter 1.1 --- Redundant Manipulators --- p.1<br>Chapter 1.2 --- Inverse Kinematics of Robotic Manipulators --- p.2<br>Chapter 1.3 --- Inverse Dynamics of Robotic Manipulators --- p.4<br>Chapter 1.4 --- Redundancy Resolutions of Manipulators --- p.5<br>Chapter 1.5 --- Motivation of Using Neural Networks for these Applications --- p.9<br>Chapter 1.6 --- Previous Work for Redundant Manipulator Inverse Kinematics and Inverse Dynamics Computation by Neural Networks --- p.9<br>Chapter 1.7 --- Advantages of the Proposed Recurrent Neural Networks --- p.11<br>Chapter 1.8 --- Contribution of this work --- p.11<br>Chapter 1.9 --- Organization of this thesis --- p.12<br>Chapter 2 --- Problem Formulations --- p.14<br>Chapter 2.1 --- Constrained Optimization Problems for Inverse Kinematics Com- putation of Redundant Manipulators --- p.14<br>Chapter 2.1.1 --- Primal and Dual Quadratic Programs for Bounded Joint Velocity Minimization --- p.14<br>Chapter 2.1.2 --- Primal and Dual Linear Programs for Infinity-norm Joint Velocity Minimization --- p.15<br>Chapter 2.2 --- Constrained Optimization Problems for Inverse Dynamics Com- putation of Redundant Manipulators --- p.17<br>Chapter 2.2.1 --- Quadratic Program for Unbounded Joint Torque Mini- mization --- p.17<br>Chapter 2.2.2 --- Primal and Dual Quadratic Programs for Bounded Joint Torque Minimization --- p.18<br>Chapter 2.2.3 --- Primal and Dual Linear Programs for Infinity-norm Joint Torque Minimization --- p.19<br>Chapter 3 --- Proposed Recurrent Neural Networks --- p.20<br>Chapter 3.1 --- The Lagrangian Network --- p.21<br>Chapter 3.1.1 --- Optimality Conditions for Unbounded Joint Torque Min- imization --- p.21<br>Chapter 3.1.2 --- Dynamical Equations and Architecture --- p.22<br>Chapter 3.2 --- The Primal-Dual Network 1 --- p.24<br>Chapter 3.2.1 --- Optimality Conditions for Bounded Joint Velocity Min- imization --- p.24<br>Chapter 3.2.2 --- Dynamical Equations and Architecture for Bounded Joint Velocity Minimization --- p.26<br>Chapter 3.2.3 --- Optimality Conditions for Bounded Joint Torque Mini- mization --- p.27<br>Chapter 3.2.4 --- Dynamical Equations and Architecture for Bounded Joint Torque Minimization --- p.28<br>Chapter 3.3 --- The Primal-Dual Network 2 --- p.29<br>Chapter 3.3.1 --- Energy Function for Infinity-norm Joint Velocity Mini- mization Problem --- p.29<br>Chapter 3.3.2 --- Dynamical Equations for Infinity-norm Joint Velocity Minimization --- p.30<br>Chapter 3.3.3 --- Energy Functions for Infinity-norm Joint Torque Mini- mization Problem --- p.32<br>Chapter 3.3.4 --- Dynamical Equations for Infinity-norm Joint Torque Min- imization --- p.32<br>Chapter 3.4 --- Selection of the Positive Scaling Constant --- p.33<br>Chapter 4 --- Stability Analysis of Neural Networks --- p.36<br>Chapter 4.1 --- The Lagrangian Network --- p.36<br>Chapter 4.2 --- The Primal-Dual Network 1 --- p.38<br>Chapter 4.3 --- The Primal-Dual Network 2 --- p.41<br>Chapter 5 --- Simulation Results and Network Complexity --- p.45<br>Chapter 5.1 --- Simulation Results of Inverse Kinematics Computation in Re- dundant Manipulators --- p.45<br>Chapter 5.1.1 --- Bounded Least Squares Joint Velocities Computation Using the Primal-Dual Network 1 --- p.46<br>Chapter 5.1.2 --- Minimum Infinity-norm Joint Velocities Computation Us- ing the Primal-Dual Network 2 --- p.49<br>Chapter 5.2 --- Simulation Results of Inverse Dynamics Computation in Redun- dant Manipulators --- p.51<br>Chapter 5.2.1 --- Minimum Unbounded Joint Torques Computation Using the Lagrangian Network --- p.54<br>Chapter 5.2.2 --- Minimum Bounded Joint Torques Computation Using the Primal-Dual Network 1 --- p.57<br>Chapter 5.2.3 --- Minimum Infinity-norm Joint Torques Computation Us- ing the Primal-Dual Network 2 --- p.59<br>Chapter 5.3 --- Network Complexity Analysis --- p.60<br>Chapter 6 --- Concluding Remarks and Future Work --- p.64<br>Publications Resulted from the Study --- p.66<br>Bibliography --- p.68
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Chen, Yun-tzu, and 陳澐子. "Inverse Kinematics Analysis of 7-DOF Serial Redundant Manipulators Based on Numerical Methods." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/19025715794011223474.
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碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>102<br>A 7-DOF serial redundant manipulator can kinematically reach any given direction and location in three-dimensional space to complete a specific task, because the manipulator has an extra degree of freedom. Although the manipulator has this advantage, it is not widely applied due to high production costs. In literature, most of papers discussed some specific types of redundant manipulators. However, this thesis emphasizes two common types of the manipulators and symmetrically analyzes their inverse kinematics.
The first type of manipulators is that their last three revolute axes of manipulators are concurrent. The analytical solution of the inverse kinematics is obtained by using a projection method. This thesis improves the determination of the joint angles of the manipulators and also develops eight sets of analytical solutions. In addition, using the Jacobian matrix and the errors of position and orientation of the end-effector, a numerical solution can be found via a recursive algorithm. Thus, the numerical solution can be compared with the analytical solution.
The second type of manipulators is that their last three revolute axes of manipulators are not concurrent. This type of manipulators is more general. By using a four-axis sequence, the numerical solutions are found based on a set of initial guesses. This approach is more suitable for the practical applications of the manipulators. Furthermore, this thesis improves iterative conditions of the numerical method.
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Das, Layatitdev. "Prediction of Inverse Kinematics Solution of a Redundant manipulator using ANFIS." Thesis, 2012. http://ethesis.nitrkl.ac.in/3957/1/Layatitdev_Das(210ME1122)%2CMachine_Design_%26_Analysis.pdf.
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In this thesis, a method for forward and inverse kinematics analysis of a 5-DOF and a 7-DOF Redundant manipulator is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one of the important concerns in robot kinematics and control. When a robotic system possesses more degree of freedom (DOF) than those required to execute a given task is called Redundant Manipulator. The difficulties in solving the inverse kinematics (IK) equations of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear nature of equations having transcendental functions. In this thesis, the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) is used to the generated data for solving inverse kinematics problem. The proposed hybrid neuro-fuzzy system combines the learning capabilities of neural networks with fuzzy inference system for nonlinear function approximation. A single-output Sugeno-type FIS (Fuzzy Inference System) using grid partitioning has been modeled in this work. The Denavit-Hartenberg (D-H) representation is used to model robot links and solve the transformation matrices of each joint. The forward kinematics and inverse kinematics for a 5-DOF and 7-DOF manipulator are analyzed systemically.
ANFIS have been successfully used for prediction of IKs of 5-DOF and 7-DOF Redundant manipulator in this work. After comparing the output, it is concluded that the predicting ability of ANFIS is excellent as this approach provides a general frame work for combination of NN and fuzzy logic. The Efficiency of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot. This current study in using different nonlinear models for the prediction of the IKs of a 5-DOF and 7-DOF Redundant manipulator will give a valuable source of information for other modellers.
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Chang, Pyung H. "A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy." 1986. http://hdl.handle.net/1721.1/6425.
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A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extended Jacobian method. The repeatability problem n the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method.
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CHEN, GUAN-HONG, and 陳冠宏. "Inverse kinematics of robot manipulators using neural network." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/27826529602369909752.
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Li, Ying-Chang, and 李穎昌. "Computation and Animation Simulation of Inverse Kinematics of Parallel Manipulators." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/y64k54.
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Lyu, Yi-Da, and 呂易達. "A Study on the Inverse Kinematics of 7-DOF Manipulators." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/99950921913264026895.
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碩士<br>國立臺灣科技大學<br>機械工程系<br>97<br>Redundant manipulators have extra degree-of-freedoms to execute some special tasks. For redundant manipulators, numerical or optimization methods are commonly used to optimize kinematic or dynamic properties. It takes time to obtain optimum solutions, so the methods cannot be directly employed on the trajectory planning for the on-line control of manipulators. This thesis proposes methods to solve the inverse kinematics of serial redundant manipulators. The solutions can be easily obtained by solving quadratics. Simplified methods to find the inverse kinematic solutions of 6-DOF manipulators are first summarized and then employed in the inverse kinematics of redundant manipulators. How to develop solutions to stay away from singularities is also investigated. The proposed methods can be utilized for the on-line control of manipulators.
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Yu, Chia-Chi, and 游家齊. "Intelligent Algorithms for Inverse Kinematics of Seven-DOF Rotic Manipulators." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/75858594479670112209.
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碩士<br>國立宜蘭大學<br>電機工程學系碩士班<br>100<br>This thesis aimed to resolve the complex seven-axis robot’s inverse kinematics. First, the mechanism design of the seven-axis robotic arm was introduced. Through the homogeneous D-H transformation matrix applied in the motion equations, the forward kinematics model was derived, Secondly, the uncertain tree search method in ant colony algorithm was presented. The existing gene fitness function replaced the pheromone concentration of the ant colony algorithm. The seven-axis angle was first adapted for the “coarse” tuning. When the concentration was low, the solution was given up, and other food and paths (i.e. exploration) were sought. When the concentration was high, fine tuning was done (i.e. development) in order to search the optimal solutions for the parameters.
Additionally, through the genetic algorithm, the search began from the initial positions to find the optimal configurations with the minimum movement, thus to solve the inverse kinematic problem the optimized inverseFinally, through the simulation results, the feasibility and effectiveness of the method proposed in this study were verified.
Keywords: robotic arm, homogeneous D-H transformation matrix, ant colony algorithm genetic algorithm
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Chang, Pyung H. "A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundany." 1988. http://hdl.handle.net/1721.1/6049.
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We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance measures, namely condition number and manipulability measure allowed to change configurations, caused repeatability problems and discontinuity effects. The new measure, on the other hand, assures that the arm solution remains in the same configuration, thus effectively preventing these problems.
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Huang, Cheng-Kai, and 黃成凱. "A STUDY ON THE KINEMATICS, DEXTERITY AND WORKSPACE OF PARALLEL AND REDUNDANT MANIPULATORS." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/28353283921475996787.
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博士<br>國立臺灣科技大學<br>機械工程系<br>104<br>Kinematics, dexterity and workspace are three of the most important criteria in designing industrial manipulators. Since 6-DOF serial manipulators have been intensively investigated over the last four decades, this study will focus on parallel and redundant manipulators.
In general, developing isotropic parallel manipulators needs to solve systems of nonlinear equations and most of the obtained results are impractical designs with strange shapes and dimensions. A general design method based on modules is presented in which a module is used to develop 3-DOF isotropic manipulators and two or more modules can be used to develop 6-DOF parallel, redundant or hybrid isotropic manipulators. The method does not need to solve nonlinear equations and some of the design parameters can be specified to obtain manipulators with desired shapes or sizes.
Discretization methods are commonly used to develop the workspace for special parallel manipulators with spherical joints. The obtained results might include singular points and some of its subspaces might not be reached because of link interactions. The proposed methods in this work provide the exact equations to determine the boundary of a singularity-free compatible reachable workspace for any types of manipulators.
For redundant manipulators, this work presents an analytical method that develops inverse kinematic solutions using the solutions of quadratic equations. The proposed method is efficient and can detect to closeness to singular configurations. The method is applicable to most n-DOF redundant manipulators with the last three axes intersected at one point.
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Deo, Arati Suresh. "Application of optimal damped least-squares method to inverse kinematics of robotic manipulators." Thesis, 1991. http://hdl.handle.net/1911/13522.
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Inverse kinematics for redundant robotic manipulators is typically computed using the pseudoinverse of the manipulator Jacobian. Though the pseudoinverse yields the most accurate minimum-norm joint velocity vector, it fails to prevent high joint velocities when the manipulator is in the neighborhood of singularities.
The Singularity Robust Inverse (SRI), which arises from the Damped Least-Squares technique proves to be a better inverse kinematic solution than the pseudoinverse near singular configurations. The SRI computes damped joint velocities but causes some deviation of the end-effector from its planned trajectory.
The SRI performs most satisfactorily when the damping factor, which represents the trade-off between the accuracy and feasibility of the computed solution is calculated optimally, i.e. it yields minimum deviation of the end-effector while ensuring the feasibility of the joint velocities at all points in the manipulator workspace. This work introduces a new method of computing the optimal damping factor.
The SRI can also be used to optimize another sub-task criterion in addition to performing the main motion task and avoiding high joint velocities at singularities.
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LIN, JU-CHAO, and 林鉅超. "A generalized approach to solving inverse kinematics problem of high degree of freedom robot manipulators." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/27914526324955250400.
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Chen, Yu-Che. "A new method for solving the kinematics of multifingered grasping and general redundant manipulators: A task oriented approach." Thesis, 1991. http://hdl.handle.net/1911/16429.
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Beside our arms, it is our hands that help us to perform tasks. At first glance, we seems to move our arms and use our hands naturally. On closer inspection, however, we find that both our arms and hands are redundant mechanisms which explains why our arms can approach an object using different postures and our hands can grasp the object with many feasible grasp configurations. Duplicating this phenomenon has led to many innovative designs of redundant arms as well as multifingered hands, and has sparked many useful analyses of these topics.
This thesis presents a new approach to intelligent multifingered grasping and redundant arm manipulation. Methods proposed in this research yield a computationally efficient and physically meaningful model for the planning of grasp positions, the determination of squeezing finger forces and the visualization of the motions of redundant arms. Principles and concepts embedded in this analysis will help researchers to gain new insights toward better designs for hands and arms. The model developed in this thesis also provides mathematical justification for some of the motions of human arms and fingers.
The main thrust of this analysis of multifingered grasping is the use of mechanical equivalent force/moment systems. These systems allow us to decompose each finger force into a normal and a tangential component. Using this decomposition of finger forces, we can visualize the contribution of each finger force by the resultant force and moment required to manipulate a grasped object. Additionally, the nature of this decomposition, which is one of the unique feature of our method, will allow intelligent utilization of touch sensors. The frictional constraints and the squeezing internal finger forces are elegantly taken into account through a computationally efficient algorithm for choosing grasp points. Our methods have also been extended into the grasp of solid objects.
The second part of this thesis provides an efficient method for analyzing the inverse kinematic problem of redundant manipulators. Our method is based on fully using the directional properties of the columns of the Jacobian matrix which relates the joint velocities of the arm and the end effector velocities. Motions of a redundant manipulator are analyzed through its upper arm's motion and wrist's motion and the Jacobian matrix is partitioned accordingly. It is shown that the motion of the upper arm and the wrist can be evaluated separately and in parallel though this vectorized approach.