Trajectory Optimization of Flexible Manipulators for Collision-Free.
نویسندگان
چکیده
منابع مشابه
Trajectory Control of Flexible Manipulators
We present some feedback control techniques recently developed for the exact solution of t rajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links...
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in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...
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In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...
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Two articulated robots working in a shared workspace can be programmed by planning the tip trajectory of each robot independently. To account for collision avoidance between links, a real-time velocity alteration strategy based on fast and accurate collision detection is proposed in this paper to determine the step of next motion of slave (low priority) robot for collision-free trajectory plann...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2000
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.66.1250