“Coordinating Control of a Special Joint Structure with More Servos than Degrees of Freedom”
Authors: Fredrik Dessen,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1987, Vol 8, No 3, pp. 175-184.
Keywords: Robot manipulators, redundancy, coordinate transformation, force control, wire drive mechanism
Abstract: A joint mechanism for use as a general building block in manipulators with a very high number of degrees of freedom is introduced. It consists of 3 servos driving a 2 d.o.f. universal joint by means of wire. A coordinate transformation set is developed, which includes positional, velocity and force transformations. Both direct and inverse transformations are presented. Special attention is given to the inverse force transformation which is obtained using linear optimization. The solution in this case is also shown to be valid for a more general class of constrained non-linear optimization problems. An example is given of the use of the coordinate transformation set; a joint control system including servos under internal force control.
PDF (851 Kb)
DOI: 10.4173/mic.1987.3.5DOI forward links to this article:
| [1] Dimitar Chakarov and Parush Parushev (1994), doi:10.1016/0094-114X(94)90061-2 |
[1] BEJCZY, A.K., TARN, T.J. CHEN, Y.L. (1985). Robot Arm Dynamic Control by Computer, 1985 IEEE International Conference on Robotics and Automation, St. Louis, March 25-28,960-970.
[2] HOLLERBACH, J.M. (1980). A recursive Lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity, IEEE Trans. Syst., Man and Cybernetics, 10, 730-736 doi:10.1109/TSMC.1980.4308393
[3] LUH, J.Y.S., WALKER, M.W. PAUL., R.P.C. (1980). Resolved acceleration control of mechanical manipulators, IEEE Trans. Autom. Control, 25,468-474.
[4] LUH, J.Y.S., WALKER, M.W. PAUL, R.P.C. (1980). On-line computational scheme for mechanical manipulators, J. Dynamic Systems, Measurement and Control, 102, 69-76.
[5] PAUL, R. P. (1981). Robot Manipulators, MIT Press: Cambridge, MA.
[6] PHILLIPS, DON T., RAVINDRAN, A. SOLBERG, J. (1976). Operations Research: Principles and Practice, John Wiley and Sons: New York.
[7] WHITNEY, D.E. (1969). Resolved motion rate control of manipulators and human prostheses, IEEE Trans. Man-Machine Syst. 10, 47-53 doi:10.1109/TMMS.1969.299896
BibTeX:
@article{MIC-1987-3-5,
title={{Coordinating Control of a Special Joint Structure with More Servos than Degrees of Freedom}},
author={Dessen, Fredrik},
journal={Modeling, Identification and Control},
volume={8},
number={3},
pages={175--184},
year={1987},
doi={10.4173/mic.1987.3.5},
publisher={Norwegian Society of Automatic Control}
};