[PDF] Top 20 Robot Manipulators: Modeling, Performance Analysis and Control

... the modeling and control of robot ...direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric ... Voir le document complet

... (×) and 700 (+) operations) was verified with the simplified model used in [4], which has already proved to be as correct as the complete dynamic model of the Quattro obtained on Adams software and which ... Voir le document complet

... positive and there exists no value of q that satisfies ...2 and q ¨ 3 (see ...1 and q ¨ 3 . Repeating the same analysis for the lower bound, we get the computation summarized by Algorithm ... Voir le document complet

... model and corresponding compliance error compensation technique, the Virtual Joint Modeling (VJM) concept is ...efficiency and acceptable ...Element Analysis, Matrix Structural ... Voir le document complet

... gravity and friction forces/ ...predict and control the dynamic performances of the ...of manipulators have been introduced in the ...define and understand are probably the maximal ... Voir le document complet

... Papadopoulos and Dubowsky that any classic terrestrial control scheme can be applied to these types of space robots for a limited workspace, provided that dynamic singularities are avoided [ 29 ...space ... Voir le document complet

... tasks and debris removal missions boil down to similar tasks with a robotic ...dynamics, control and path planning of space robots is given in (Flores-Abad et ...multiple manipulators are ... Voir le document complet

... (i) and (ii) compared to kind (iii) hybrid manipulators due to the fact that for an S-PM, the actuators at every module increase the inertia of the system making it bulky and impractical for ... Voir le document complet

... aircraft and meet basic safety and operational constraints for the Amsterdam airport ...times and missed some constraints such as the runway occupancy ...model and applied their approach to ... Voir le document complet

... Stiffness analysis, passive joints, auxiliary loading, static equilibrium, non-linear stiffness ...stiffness modeling technique for the case of different types of loadings applied both to the robot ... Voir le document complet

... sensor-based control approaches well adapted for servoing parallel robots involve the presence of virtual robots hidden into the controller, which have assembly modes and singularities different from the ... Voir le document complet

... these performance measures do not suit well a manipulator under external loading since they are not able to take into account robot elasticity and influence of the external force which is applied to ... Voir le document complet

... from analysis phase, to the fault detection stage and the control, are brießy presented to let a more important space for the development of the fault accommodation ...motion and the ... Voir le document complet

... MRAC-based control schemes for serial manipulators can be found in the literature [19, 20], only few controllers were proposed for parallel ...adaptive control scheme based on MRAC has been proposed ... Voir le document complet

... 2 and 3 ...screw and its mechanical principle is briefly described as ...cables and thus to the output ...ratio and the link position q corresponds to the output pulley position to which the ... Voir le document complet

... 2.4 Robot Motion Control Firstly, trajectory generation based approaches were ...position and time is ...acceleration and velocity are not checked when the trajectory is planned, so the ... Voir le document complet

... formalism and build using the same continuous approach a new projection operator that enlarges the projection ...the control law due to the main task is stable, which is the usual hy- pothesis, the obtained ... Voir le document complet

... case, and how can a bottle of water be differentiated from a bottle of tequila? A closer analysis of this simple task can shed some light on its inherent ...localization and tracking of even ... Voir le document complet

... Minimizing endpoint impedance means, in the context of the design of this robot, minimizing both endpoint friction and effective endpoint mass.. For a port of interaction [r] ... Voir le document complet

... 4a and includes three identical parallel chains, which will be further referred as ...R and Pa denote the prismatic, revolute, and parallelogram joints ...simple and the velocity transmission ... Voir le document complet