Object
Title: Control of redundant robots under end-effector commands: A case study in underactuated systems
Contributor:
Subtitle:
Recent Developments in Robotics
Group publication title:
Abstract:
We analyze the control problem for a kinematically redundant robot driven by forces/torques imposed on the end-effector, an interesting example of underactuated system. A convenient format for the dynamic equations of this mechanism can be obtained via partial feedback linearization. In particular, we point out the existence of two special forms in which the system can be put under suitable assumptions, namely the second-order triangular and Caplygin forms. ; Nonlinear controllability tools are utilized to derive conditions under which it is possible to steer the robot between two given configurations using end-effector commands. With a PPR robot as a case study, a steering algorithm is proposed that achieves reconfiguration in finite time. Simulation results and a discussion on possible generalizations are presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 2 (1997) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Last modified:
Sep 2, 2021
In our library since:
Nov 18, 2020
Number of object content hits:
88
All available object's versions:
https://zbc.uz.zgora.pl/publication/64493
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
- Control of redundant robots under end-effector commands: A case study in underactuated systems
- Adaptive and robust control of flexible joint robots in constrained motion
- On the stability of nonlinear PD control
- An adaptive force/position control scheme for robot manipulators
- Controllability for mechanical systems with symmetries and constraints
- Time-optimal control of redundant manipulators
- Modelling and simulation of assembly processes with robots
- Parameter identification in robot control
- Singularity avoidance in redundant robot kinematics: A dynamical system approach
- Two-way recursive decomposition of the free-flying robot mass matrix
- Time-optimal trajectory planning in dynamic environments
- Motion generation in Cartesian space for industrial robots with actuator limitations
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| Control of redundant robots under end-effector commands: A case study in underactuated systems | Sep 2, 2021 |
