Relevant bibliographies by topics / Robot inverse dynamics

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Robot inverse dynamics'

Author: Grafiati
Published: 4 June 2021
Last updated: 16 February 2022

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Journal articles on the topic "Robot inverse dynamics"

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Huston, Ronald L., and Timothy P. King. "Dynamics of redundant robots – inverse solutions." Robotica 4, no. 4 (1986): 263–67. http://dx.doi.org/10.1017/s0263574700009954.

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SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.
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Pierrot, F., C. Reynaud, and A. Fournier. "DELTA: a simple and efficient parallel robot." Robotica 8, no. 2 (1990): 105–9. http://dx.doi.org/10.1017/s0263574700007669.

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SummaryThe DELTA parallel robot, designed by an EPFL (Ecole Polytechnique Fédérale de Lausanne) research team, is a mechanical structure which has the advantage of parallel robots and ease of serial robots modeling. This paper presents solutions for a complete modeling of the DELTA parallel robot (direct and inverse kinematics, inverse statics, inverse dynamics), with few arithmetic and trigonometric operations. Our method is based on a satisfactory choice of kinematic parameters and on a few restricting hypotheses for the static and dynamic models. We give some details of each model, we present some computation results and we put the emphasis on some particular points, showing the capabilities of this mechanical structure.
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Saha, Subir Kumar. "Inverse Dynamics Algorithm for Space Robots." Journal of Dynamic Systems, Measurement, and Control 118, no. 3 (1996): 625–29. http://dx.doi.org/10.1115/1.2801191.

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An efficient algorithm for the inverse dynamics of free-flying space robots, consisting of a serial manipulator mounted on a free-base, e.g., a spacecraft, is presented. The kinematic and dynamic models are based on the concepts of the Primary Body (PB) and the Natural Orthogonal Complement, respectively, reported elsewhere. In this paper, besides the efficiency, the usefulness of the PB in deriving different kinematic models and selecting an efficient one is pointed out. Moreover, it is shown that a recursive algorithm for the inverse dynamics of the space robot at hand can be developed even without the consideration of the momenta conservation principle.
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Vukobratovic, Miomir. "Beginnings of robotics as a separate discipline of technical sciences and some fundamental results - a personal view." Robotica 20, no. 2 (2002): 223–35. http://dx.doi.org/10.1017/s0263574701003903.

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Based on the author's knowledge the paper gives a brief account of some of the scientific achievements of robotics that were of crucial importance to its development.In a rough chronological order these are: zero-moment concept and semi-inverse method; recursive formulation of robot dynamics; computer-aided derivation of robot dynamics in symbolic form; dynamic approach to generation of trajectories of robotic manipulators; centralized feedforward control in robotics; robot dynamic control; decentralized control and observer applied to strongly coupled active mechanisms; force feedback in dynamic control of robots; decentralized control stability tests for robotic mechanisms; underactuated robotic systems; practical stability tests in robotics; unified approach to control laws synthesis for robot interacting with dynamic environment; modeling and control of multi-arm cooperating robots interacting with environment; connectionist algorithms for advanced learning control of robots interacting with dynamic environment; fuzzy logic robot control with model-based dynamic compensation, and internal redundancy – a new way to improve robot dynamic performance.
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My, Chu A., and Duong X. Bien. "New development of the dynamic modeling and the inverse dynamic analysis for flexible robot." International Journal of Advanced Robotic Systems 17, no. 4 (2020): 172988142094334. http://dx.doi.org/10.1177/1729881420943341.

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When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a prismatic joint and a revolute joint. Moreover, a new bisection method-based algorithm is proposed to analyze the inverse dynamic responses of the flexible robots. Since the bisection method is a rapid converging method in mathematics, the proposed algorithm is effectively applicable to solving the inverse dynamic problem of a flexible robot in a robust manner. Last, the numerical simulation results show the effectiveness and the robustness of the proposed method.
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Tafrishi, S. A., Y. Bai, M. Svinin, E. Esmaeilzadeh, and M. Yamamoto. "Inverse Dynamics-Based Motion Control of a Fluid-Actuated Rolling Robot." Nelineinaya Dinamika 15, no. 4 (2019): 611–22. http://dx.doi.org/10.20537/nd190420.

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Kljuno, Elvedin, and Robert L. Williams. "Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control." Journal of Robotics 2010 (2010): 1–19. http://dx.doi.org/10.1155/2010/278597.

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This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.
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Madsen, Emil, Simon Aagaard Timm, Norbert Andras Ujfalusi, Oluf Skov Rosenlund, David Brandt, and Xuping Zhang. "Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators." Mathematical Problems in Engineering 2020 (September 17, 2020): 1–13. http://dx.doi.org/10.1155/2020/8709870.

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Many collaborative robots use strain-wave-type transmissions due to their desirable characteristics of high torque capacity and low weight. However, their inherent complex and nonlinear behavior introduces significant errors and uncertainties in the robot dynamics calibration, resulting in decreased performance for motion and force control tasks and lead-through programming applications. This paper presents a new method for calibrating the dynamic model of collaborative robots. The method combines the known inverse dynamics identification model with the weighted least squares (IDIM-WLS) method for rigid robot dynamics with complex nonlinear expressions for the rotor-side dynamics to obtain increased calibration accuracy by reducing the modeling errors. The method relies on two angular position measurements per robot joint, one at each side of the strain-wave transmission, to effectively compensate the rotor inertial torques and nonlinear dynamic friction that were identified in our previous works. The calibrated dynamic model is cross-validated and its accuracy is compared to a model with parameters obtained from a CAD model. Relative improvements are in the range of 16.5% to 28.5% depending on the trajectory.
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Matukaitis, Mindaugas, Renaldas Urniezius, Deividas Masaitis, Lukas Zlatkus, Benas Kemesis, and Gintaras Dervinis. "Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators." Applied Sciences 11, no. 7 (2021): 2946. http://dx.doi.org/10.3390/app11072946.

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This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.
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Wang, D., J. P. Huissoon, and K. Luscott. "A Teaching Robot for Demonstrating Robot Control Strategies." Robotica 11, no. 5 (1993): 393–401. http://dx.doi.org/10.1017/s0263574700016945.

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SUMMARYIt is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.
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Dissertations / Theses on the topic "Robot inverse dynamics"

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QUEIROZ, MARCIO SANTOS DE. "INVERSE DYNAMICS METHOD FOR ROBOT MANIPULATOR CONTROL." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1993. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=19548@1.

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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>O método da dinâmica inversa para o controle de manipuladores robóticos é apresentado. A ideia básica deste método é cancelar as não linearidades e acoplamentos, que caracterizam o comportamento dinâmico de manipuladores, através de um modelo dinâmico do mesmo (controlador primário). Com isto, o sistema resultante é linear e desaclopado, podendo ser controlado por técnicas de controle linear (controlador secundário). O método é inicialmente desenvolvido considerando o caso ideal do controlador primário (onde o modelo dinâmico é perfeito) e um PD para o controlador secundário. As implicações de imperfeições no cancelamento das não linearidades e aclopamentos do sistema pelo controlador primário são mostradas. As duas formulações existentes para o controlador primário – computed – torque e feedforward – são descritas. É sugerida uma formulação híbrida para contornar os problemas de implementação das duas formulações. Um enfoque maior é dado às versões simplificadas da formulação computed – torque. Simulações são feitas para melhor esclarecer esta questão. Em substituição ao PD, é descrito o projeto de um compensador linear robusto a partir do método das fatorações por matrizes própias e estáveis. O projeto é apresentado com análises mais detalhadas de algumas questões e com correções nos erros encontrados, em relação ao projeto existente na literatura. Análises comparativas com o PD são feitas e é explicada a influencia de frequências de amostragem no desempenho e ganhos do controlador PD.<br>The inverse dynamics control of robot manipulators is presented. The main idea of this control method is to cancel the nonlinearities and coupling effects, that describe the dynamic behavior of manipulators, using a dynamic model of the system (primary controller). Since the resulting system is linear and uncoupled, it can be controlled by linear control techniques (secondary controller). The method is initially derived considering the ideal case of the primary controller (where the dynamic model is perfect) and a PD for the secondary controller. The implications of inexact cancelling of the system nonlinearities and coupling effects by the primary controller are shown. The two existing primary controller formulations – computed-torque and feedforward – are described. A hybrid formulations is suggested to overcome the implementation problems of the two formulations. Special attention is given to the simplified computed-torque schemes, which are subject of controversy in the literature. Simulations are performed to better illustrate this matter. A robust linear compensator design, based on the stable factorization approach, is described analyses of some questions and with corrections of the detected mistakes, regarding the existing design. Comparative analyses with the PD are done. The effects of sampling rates on the tracking performances and PD gains are explained.
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Henning, Timothy Paul. "Dynamics and controls for an omnidirectional robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175093596.

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Dick, Andrew B. "Development Feasibility of a Universal Industrial Robot/Automation Equipment Controller." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1141870661.

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Chai, Kian Ming. "Multi-task learning with Gaussian processes." Thesis, University of Edinburgh, 2010. http://hdl.handle.net/1842/3847.

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Multi-task learning refers to learning multiple tasks simultaneously, in order to avoid tabula rasa learning and to share information between similar tasks during learning. We consider a multi-task Gaussian process regression model that learns related functions by inducing correlations between tasks directly. Using this model as a reference for three other multi-task models, we provide a broad unifying view of multi-task learning. This is possible because, unlike the other models, the multi-task Gaussian process model encodes task relatedness explicitly. Each multi-task learning model generally assumes that learning multiple tasks together is beneficial. We analyze how and the extent to which multi-task learning helps improve the generalization of supervised learning. Our analysis is conducted for the average-case on the multi-task Gaussian process model, and we concentrate mainly on the case of two tasks, called the primary task and the secondary task. The main parameters are the degree of relatedness ρ between the two tasks, and πS, the fraction of the total training observations from the secondary task. Among other results, we show that asymmetric multitask learning, where the secondary task is to help the learning of the primary task, can decrease a lower bound on the average generalization error by a factor of up to ρ2πS. When there are no observations for the primary task, there is also an intrinsic limit to which observations for the secondary task can help the primary task. For symmetric multi-task learning, where the two tasks are to help each other to learn, we find the learning to be characterized by the term πS(1 − πS)(1 − ρ2). As far as we are aware, our analysis contributes to an understanding of multi-task learning that is orthogonal to the existing PAC-based results on multi-task learning. For more than two tasks, we provide an understanding of the multi-task Gaussian process model through structures in the predictive means and variances given certain configurations of training observations. These results generalize existing ones in the geostatistics literature, and may have practical applications in that domain. We evaluate the multi-task Gaussian process model on the inverse dynamics problem for a robot manipulator. The inverse dynamics problem is to compute the torques needed at the joints to drive the manipulator along a given trajectory, and there are advantages to learning this function for adaptive control. A robot manipulator will often need to be controlled while holding different loads in its end effector, giving rise to a multi-context or multi-load learning problem, and we treat predicting the inverse dynamics for a context/load as a task. We view the learning of the inverse dynamics as a function approximation problem and place Gaussian process priors over the space of functions. We first show that this is effective for learning the inverse dynamics for a single context. Then, by placing independent Gaussian process priors over the latent functions of the inverse dynamics, we obtain a multi-task Gaussian process prior for handling multiple loads, where the inter-context similarity depends on the underlying inertial parameters of the manipulator. Experiments demonstrate that this multi-task formulation is effective in sharing information among the various loads, and generally improves performance over either learning only on single contexts or pooling the data over all contexts. In addition to the experimental results, one of the contributions of this study is showing that the multi-task Gaussian process model follows naturally from the physics of the inverse dynamics.
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Moberg, Stig. "Modeling and Control of Flexible Manipulators." Doctoral thesis, Linköpings universitet, Reglerteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60831.

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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities.  Therefore, there is a need to continuously improve the mathematical models and control methods in order to fulfil conflicting requirements, such as increased performance of a weight-reduced robot, with lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are also obtained, such as lower environmental impact, lower power consumption, improved dexterity, and higher safety. This thesis deals with different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, this thesis shows that the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. The main contributions of this work are the design and analysis of identification methods, and of inverse dynamics control methods, for the extended flexible joint model. The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot. The inverse dynamics problem is discussed, and a solution methodology is proposed. This methodology is based on the solution of a differential algebraic equation (DAE). The inverse dynamics solution is then used for feedforward control of both a simulated manipulator and of a real robot manipulator. The last part of this work concerns feedback control. First, a model-based nonlinear feedback control (feedback linearization) is evaluated and compared to a model-based feedforward control algorithm. Finally, two benchmark problems for robust feedback control of a flexible manipulator are presented and some proposed solutions are analyzed.
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Poon, Joseph Kin-Shing. "Multiprocessor-compatible inverse kinematics and path planning for robots." Thesis, University of British Columbia, 1988. http://hdl.handle.net/2429/29165.

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Novel algorithms in robot inverse kinematics and path planning are proposed. Emphasis is placed on real-time execution speed with multiprocessors and adaptability to unpredictable environments. The inverse kinematics algorithm is an iterative solution which is applicable to many classes of industrial robots, and is stable at and around singularities. The method is based on a simple functional analysis of each link of a manipulator and projecting vectors on the coordinate frame of each joint. Heuristic rules are used to control a mobile manipulator base and to guide the manipulator in the case of non-convergence caused by joint limits. The path planning algorithm uses a potential surface in a quantized configuration space. Paths are guaranteed to be collision-free for all parts of the robot. Local minimum regions on the potential surface are filled on demand by extending the obstacles. Arbitrarily shaped obstacles in 3-dimensions can be handled. Using a hierarchical collision detection technique, high execution speed can be maintained even with many complex shaped obstacles in the workspace. The path planning method can theoretically be applied to any manipulator with any degrees of freedom. The implementation of the inverse kinematics and path planning algorithms in a parallel hierarchical multiprocessor computer structure designed for the control of robots is proposed and investigated. Communication among the processors is by point-to-point message passing via asynchronous serial links with message buffers. Computer simulations are used to demonstrate the appropriateness and feasibility of this computer structure for robot control.<br>Applied Science, Faculty of<br>Electrical and Computer Engineering, Department of<br>Graduate
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Cree, Andrew. "Causal approximations to the inverse dynamics of structurally flexible robots." Thesis, University of Canterbury. Mechanical Engineering, 2001. http://hdl.handle.net/10092/6020.

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Robotic manipulators have been extensively used in industrial automation, hazardous environments and outer space. The requirement for increased speeds of operation and lightweight design has made structural flexibility the constraining factor in robot design. For current manipulators that exhibit significant link flexibility, the control methodology seems to be to drive them so slowly that link dynamics are not excited. To make significant gains in speed and efficiency, the deflections due to link deformation will have to be compensated. With the ready availability of powerful processors, the cost of implementing complex control methodologies is not excessive. Flexible-link robots provide significant challenges for the control engineer. With nonlinear configuration-dependent and nonminimum-phase dynamics, the control of the end-effector in task-space is one of the most difficult problems encountered. Fortunately, flexible-link robots exhibit one beneficial characteristic. The map from joint torques to joint rate is passive, allowing a strictly passive feedback controller to produce a stable system. The requirement then is to produce a reference joint trajectory that will result in the end-effector following its desired track. This thesis deals with the problem of inverting the nonlinear nonrninimum-phase dynamics to produce a feedforward torque and joint trajectory from a given end-effector trajectory. Generally the inverse dynamics will be noncasual, that is the output of the inverse system will depend on future inputs. In the linear case this noncasual inverse can be solved using Fourier transform methods on the complete trajectory. In this work we have assumed that the complete end-effector trajectory is not available. The input may come from an operator controlling the movement by sight or by a system that is updating the trajectory as it analyses its own sensors. Because of this restriction, the inverse dynamics are approximated by a casual system which only uses past inputs. Using a nonlinear inner-outer factorisation of the dynamics, inverting the outer factor and approximating the inverse of the inner factor with its static inverse, an approximate inverse-dynamics system was generated. Alternatively, by modifying the input of the dynamics to be all of the rigid contribution plus a fraction of the elastic contribution, a stable inverse was generated. Both of these approximate inverses have been implemented on a planar three-DOF system with the first two links flexible. Simulation and implementation on an experimental facility has shown that approximate end-effector tracking can be obtained. While an approximate inverse based feedforward cannot produce perfect tracking, it is a significant improvement over the current standard of generating a joint trajectory based on the inverse of the equivalent rigid robot.
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Du, Zhenyu. "Position and force control of cooperating robots using inverse dynamics." Thesis, University of Bath, 2015. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.655721.

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Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controlled throughout the motion. The aim of this research is to develop an inverse dynamics model-based cooperative force and position control scheme for multiple robot manipulators. An extended definition of motion is proposed to include force demands based on a constrained Lagrangian dynamics and Lagrangian multipliers formulation. This allows the direct calculation of the inverse dynamics with both motion and force demands. A feedforward controller based on the proposed method is built to realise the cooperative control of two robots sharing a common load, with both motion and force demands. Furthermore, this thesis develops a method to design an optimal excitation trajectory for robot dynamic parameter estimation utilising the Schroeder Phased Harmonic Sequence. This method yields more precise and accurate inverse dynamics models, which result in better control. The proposed controller is then tested in an experimental set-up consisting of two robot manipulators and a common load. Results show that in general the proposed controller performs noticeably better position and force tracking, especially for higher speed motions, when compared to traditional hybrid position/force controllers.
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Kwon, Dong-Soo. "An inverse dynamic tracking control for bracing a flexible manipulator." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/15876.

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Filho, Sylvio Celso Tartari. "Modelagem e otimização de um robô de arquitetura paralela para aplicações industriais." Universidade de São Paulo, 2006. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-07122006-151723/.

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Este trabalho trata do estudo de robôs de arquitetura paralela, focando na modelagem e otimização dos mesmos. Não foi construído nenhum tipo de protótipo físico, contudo os modelos virtuais poderão, no futuro, habilitar tal façanha. Após uma busca por uma aplicação que se beneficie do uso de um robô de arquitetura paralela, fez-se uma pesquisa por arquiteturas viáveis já existentes ou relatadas na literatura. Escolheu-se a mais apta e prosseguiu-se com os estudos e modelagem cinemática e dinâmica, dando uma maior ênfase na cinemática e dinâmica inversa, esta última utilizando a formulação de Newton - Euler. Foi construído um simulador virtual em ambiente MATLAB 6.5, dotado de várias capacidades como interpolação linear e circular, avanço e uso de múltiplos eixos coordenados. Seu propósito principal é o de demonstrar a funcionalidade e eficácia dos métodos utilizados. Depois foi incorporado ao simulador um algoritmo de cálculo do volume de trabalho da máquina que utiliza alguns dados do usuário para calcular o volume, que pode ser aquele atrelado a uma postura em particular ou o volume de trabalho de orientação total. Algoritmos para medir o desempenho da máquina quanto à uniformidade e utilização da força dos atuadores foram construídos e também incorporados ao simulador, que consegue mostrar o elipsóide de forças ao longo de quaisquer movimentos executados pela plataforma móvel. Quanto à otimização, parte do ferramental previamente construído foi utilizado para que se pudesse chegar a um modelo de uma máquina que respeitasse restrições mínimas quanto ao tamanho e forma de seu volume de trabalho, mas ainda mantendo o melhor desempenho possível dentro deste volume.<br>This work is about the study of parallel architecture robots, focusing in modeling and optimization. No physical prototypes were built, although the virtual models can help those willing to do so. After searching for an application that could benefit from the use of a parallel robot, another search was made, this time for the right architecture type. After selecting the architecture, the next step was the kinematics and dynamics analysis. The dynamics model is developed using the Newton ? Euler method. A virtual simulator was also developed in MATLAB 6.5 environment. The simulator?s main purpose was to demonstrate that the methods applied were correct and efficient, so it has several features such as linear and circular interpolations, capacity to use multiple coordinate systems and others. After finishing the simulator, an algorithm to calculate the machine workspace was added. The algorithm receives as input some desired requirements regarding the manipulator pose and then calculates the workspace, taking into consideration imposed constraints. Lastly, algorithms capable to measure the manipulator?s performance regarding to its actuator and end-effector force relationship were also incorporated into the simulator that calculates the machine?s force ellipsoid during any movement, for each desired workspace point. For the optimization procedures, some previously developed tools were used, so that the resulting model was capable to respect some workspace constraints regarding size and shape, but also maintaining the best performance possible inside this volume.
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Books on the topic "Robot inverse dynamics"

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Zomaya, Albert Y. Robot inverse dynamics computation via VLSI distributed architectures. University of Sheffield, Dept. of Control Engineering, 1989.

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Rechsteiner, Martin. Real time inverse stereo system for surveillance of dynamic safety envelopes. Hartung-Gorre, 1997.

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Book chapters on the topic "Robot inverse dynamics"

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Balafoutis, C. A., and R. V. Patel. "Manipulator Inverse Dynamics." In Dynamic Analysis of Robot Manipulators. Springer US, 1991. http://dx.doi.org/10.1007/978-1-4615-3952-0_5.

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Mingo Hoffman, Enrico, Alessio Rocchi, Nikos G. Tsagarakis, and Darwin G. Caldwell. "Robot Dynamics Constraint for Inverse Kinematics." In Advances in Robot Kinematics 2016. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-56802-7_29.

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Thuruthel, Thomas George, Egidio Falotico, Matteo Cianchetti, and Cecilia Laschi. "Learning Global Inverse Kinematics Solutions for a Continuum Robot." In ROMANSY 21 - Robot Design, Dynamics and Control. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_6.

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Ferrentino, Enrico, and Pasquale Chiacchio. "Topological Analysis of Global Inverse Kinematic Solutions for Redundant Manipulators." In ROMANSY 22 – Robot Design, Dynamics and Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_10.

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Wenk, Felix, and Thomas Röfer. "Online Generated Kick Motions for the NAO Balanced Using Inverse Dynamics." In RoboCup 2013: Robot World Cup XVII. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44468-9_3.

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Venture, Gentiane, and Maxime Gautier. "Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values." In Romansy 19 – Robot Design, Dynamics and Control. Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_39.

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Hirasawa, Kensho, Ko Ayusawa, and Yoshihiko Nakamura. "Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method." In Romansy 19 – Robot Design, Dynamics and Control. Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_41.

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Pasila, Felix, Rocco Vertechy, Giovanni Berselli, and Vincenzo Parenti Castelli. "Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence." In Romansy 19 – Robot Design, Dynamics and Control. Springer Vienna, 2013. http://dx.doi.org/10.1007/978-3-7091-1379-0_6.

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Shimizu, Soya, Ko Ayusawa, and Gentiane Venture. "Motion Synthesis Using Low-Dimensional Feature Space and Its Application to Inverse Optimal Control." In ROMANSY 23 - Robot Design, Dynamics and Control. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_60.

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Flores, Francisco Geu, Sebastian Röttgermann, Bettina Weber, and Andrés Kecskeméthy. "Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method." In ROMANSY 21 - Robot Design, Dynamics and Control. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33714-2_3.

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Conference papers on the topic "Robot inverse dynamics"

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Zomaya, A. Y. "Inverse Dynamics Neuro-tuning For Robot Control." In IEEE International Workshop on Emerging Technologies and Factory Automation,. IEEE, 1992. http://dx.doi.org/10.1109/etfa.1992.683280.

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Duy Nguyen-Tuong and Jan Peters. "Using model knowledge for learning inverse dynamics." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509858.

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Ahmadi, Mahdi, Mehdi Dehghani, Mohammad Eghtesad, and Ali Reza Khayatian. "Inverse Dynamics of Hexa Parallel Robot Using Lagrangian Dynamics Formulation." In 2008 International Conference on Intelligent Engineering Systems. IEEE, 2008. http://dx.doi.org/10.1109/ines.2008.4481284.

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Nakanishi, Jun, Michael Mistry, and Stefan Schaal. "Inverse Dynamics Control with Floating Base and Constraints." In 2007 IEEE International Conference on Robotics and Automation. IEEE, 2007. http://dx.doi.org/10.1109/robot.2007.363606.

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Meghdari, A., S. H. Mahboobi, and A. L. Gaskarimahalle. "Dynamics Modeling of “CEDRA” Rescue Robot on Uneven Terrains." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-59239.

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Abstract:
In this paper an effective approach for kinematic and dynamic modeling of high mobility wheeled mobile robots (WMR) has been presented. As an example of these robots, the method has been applied on CEDRA rescue robot which is a complex, multibody mechanism. The model is derived for 6-DOF motions enabling movement in x, y, z directions, as well as pitch, roll and yaw rotations. Forward kinematics equations are derived using Denavit-Hartenberg method and the wheels Jacobian matrices. Moreover the inverse kinematics of the robot is obtained and solved for the wheel velocities and steering commands in terms of desired velocity, heading and measured link angles. Finally dynamical analysis of the rover has been thoroughly studied. Due to the complexity of this multi-body system especially on rough terrain, Kane’s method of dynamics has been used to model this problem. The approach has been developed in such a way that it can easily be extended to other mechanisms and rovers.
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Laus, Thomas, Stefan Oberpeilsteiner, Karim Sherif, and Wolfgang Steiner. "Inverse Dynamics of an Industrial Robot Using Motion Constraints." In 2019 20th International Conference on Research and Education in Mechatronics (REM). IEEE, 2019. http://dx.doi.org/10.1109/rem.2019.8744124.

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Tornambe, A. "Asymptotic inverse dynamics of single-link flexible robot arms." In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. IEEE, 1991. http://dx.doi.org/10.1109/icar.1991.240471.

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Shen, Haoyu, Yanli Liu, and Hongtao Wu. "High effective inverse dynamics modelling for dual-arm robot." In 6TH INTERNATIONAL CONFERENCE ON COMPUTER-AIDED DESIGN, MANUFACTURING, MODELING AND SIMULATION (CDMMS 2018). Author(s), 2018. http://dx.doi.org/10.1063/1.5039135.

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Hopler, R., and M. Thummel. "Symbolic computation of the inverse dynamics of elastic joint robots." In IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. IEEE, 2004. http://dx.doi.org/10.1109/robot.2004.1302396.

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Mistry, Michael, Jonas Buchli, and Stefan Schaal. "Inverse dynamics control of floating base systems using orthogonal decomposition." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509646.

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Reports on the topic "Robot inverse dynamics"

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Petrov, Plamen. Dynamics and Adaptive Motion Control of a Two-wheeled Inverted Pendulum Robot. "Prof. Marin Drinov" Publishing House of Bulgarian Academy of Sciences, 2018. http://dx.doi.org/10.7546/crabs.2018.07.11.

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