Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

Modelling and Control of Robot Manipulators

Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory Illustrative examples appear throughoutThe author begins by discussing typical robot manipulator mechanisms and their controllers He then devotes three chapters to the analysis of robot manipulator mechanisms He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters The final chapter develops the concept of manipulabilityThe second half focuses on the control of robot manipulators Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theoryTsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering

Foundations of robotics : analysis and control

Kinematic analysis of mechanisms kinematic synthesis of mechanisms simple mechanisms and coupler curves cams spur gears helical, spiral, worm and bevel gears gear trains hydrodynamic lubrication static force analysis inertia force analysis combined static and inertia force analysis turning moment diagram and flywheel balancing of rotating components balancing of reciprocating components gear forces.

Mechanism and machine theory

This paper presents trajectory planning optimization and real-time control of a special five-bar parallel robot. Planning is based on a cubic spline stochastic approach that minimizes trajectory time and selects the best combination of working mode regions to circumvent all parallel singularities, allowing the size of the workspace to be increased. Identification of the dynamic model of the robot and its actuators allows a precise implementation of the trajectory planning and real-time control approach. The optimization algorithm achieves a fast trajectory and a controller that operates with an error of less than 0.7° for both actuated joints of the robot.

Minimum-Time Trajectory Planning and Control of a Pick-and-Place Five-Bar Parallel Robot

Identification of robot dynamics is a key issue in boosting the performance of model-based control techniques, having also a key role in realistic simulation. Robot dynamic parameters have physical meaning, hence parameter estimations must correspond to physically feasible values. Since it is only possible to identify linear combinations of parameters (the base parameters) the physical feasibility of such combinations cannot be directly asserted. In this paper we show that feasibility conditions define a convex set and can be written as a linear matrix inequality (LMI), suitable for semidefinite programming (SDP) techniques. We propose three methods based on LMI-SDP to deal with the feasibility of base parameters. The first method checks if a given base parameter estimation has physical meaning. The second method corrects infeasible estimations, finding the closest feasible base parameters. These two methods can be applied to existing regression techniques. The third method performs parameter identification through ordinary least squares regression constrained to the feasible space, guaranteeing the optimal solution. Experiments with a seven-link robot manipulator are provided, and efficiency and scalability are discussed.

Physical feasibility of robot base inertial parameter identification: A linear matrix inequality approach

This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters A reduced model based on a set of relevant parameters is obtained following a novel approach that considers a simplified dynamic model with a physically feasible set of parameters The proposed control system is compared with the response of a model-based control that considers the complete identification of the rigid-body dynamic parameters, friction at joints, and the inertia of the actuators The control systems are implemented on a virtual and an actual prototype The results show that the control scheme based on the reduced model improves the trajectory tracking precision when comparing with the control scheme based on the complete set of dynamic parameters Moreover, the reduced model shows a significant reduction in the computational burden, allowing real-time control

Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters

A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

Model-based control improves robot performance provided that the dynamics parameters are estimated accurately. However, some of the model parameters change with time, e.g. friction parameters and unknown payload. Particularly, off-line identification approaches omit the payload estimation (due to practical reasons). Adaptive control copes with some of these structural uncertainties. Thus, this work implements an adaptive control scheme for a 3-DOF parallel manipulator. The controller relies on a novel relevant-parameter dynamic model that permits to study the cases in where the uncertainties affect: (1) rigid body parameters, (2) friction parameters, (3) actuator dynamics, and (4) a combination of the former cases. The simulations and experiments verify the performance of the proposed controller. The control scheme is implemented on the modular programming environment Open Robot Control Software (OROCOS). Finally, an experimental setup evaluates the controller performance when the robot handles a payload.

Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

This paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Politecnica de Valencia. Several position and force controllers have been tested to ensure accurate tracking performances. An orthopedic boot, equipped with a force sensor, has been placed over the platform of the parallel robot to perform exercises for injured ankles. Passive, active-assistive and active-resistive exercises have been implemented to train dorsi/plantar flexion, inversion and eversion ankle movements. In order to implement the controllers, the component-based middleware Orocos has been used with the advantage over other solutions that the whole scheme control can be implemented modularly. These modules are independent and can be configured and reconfigured in both configuration and runtime. This means that no specific knowledge is needed by medical staff, for example, to carry out rehabilitation exercises using this low-cost parallel robot. The integration between Orocos and ROS, with a CAD model displaying the actual position of the rehabilitation robot in real time, makes it possible to develop a teleoperation application. In addition, a teleoperated rehabilitation exercise can be performed by a specialist using a Wiimote (or any other Bluetooth device).

Miguel Díaz-Rodríguez

Papers

Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters

A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks