AVOIDING HEAVY COMPUTATIONS IN INVERSE CALIBRATION PROCEDURE FOR 7 DOF ROBOT MANIPULATOR
نویسندگان
چکیده
منابع مشابه
Adaptive Control of 4-DoF Robot manipulator
In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of ...
متن کاملLearning Inverse Dynamics for Robot Manipulator Control
Model-based control strategies for robot manipulators can present numerous performance advantages when an accurate model of the system dynamics is available. In practice, obtaining such a model is a challenging task which involves modeling such physical processes as friction, which may not be well understood and difficult to model. Furthermore, uncertainties in the physical parameters of a syst...
متن کاملInverse Kinematic/Dynamic Analysis of a New 4-DOF Hybrid (Serial-Parallel) Pole Climbing Robot Manipulator
This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...
متن کاملInverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm
1 ISSN 1729‐8806, pp. 1‐10 Inverse Kinematics and Control of a 7-DOF Redundant Manipulator Based on the Closed-Loop Algorithm Jingguo Wang1, Yangmin Li1,2 and Xinhua Zhao2 1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau Av. Padre Tomás Pereira, Taipa, Macao SAR, China 2School of Mechanical Engineering, Tianjin University of Technology, Tian...
متن کاملA Numerical SC Approach for a Teleoperated 7-DOF Manipulator
To tackle the singularity problem, the SC (SingularityConsistent) approach was introduced. It achieves very stable control at and around a singularity with feasible joint velocities and no directional error in the endeffector velocity. This approach is very suited for a direct manual teleoperation system because of its errorless character for the direction. Until now, it was applied for the tel...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Electrical Engineering and Information Technologies
سال: 2016
ISSN: 2545-4250,2545-4269
DOI: 10.51466/jeet161-2037s