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Book ChapterDOI

Dynamics of Robotic Systems

TL;DR: The field of robotics has grown a lot in last three to four decades and background and developments in the field of dynamics of robotic systems are presented.
Abstract: The field of robotics has grown a lot in last three to four decades. In this chapter, background and developments in the field of dynamics of robotic systems are presented.
Citations
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DOI
08 Nov 2018
TL;DR: A new approach to model a humanoid gait consist of 5 and 7 links and the influence of feet on the overall gait dynamics is revealed, and the possibility of additional use of the model for individual identification and acknowledgement of gait eccentricities are predictable.
Abstract: This article reveals a new approach to model a humanoid gait consist of 5 and 7 links and studying the influence of feet on the overall gait dynamics. Estimated trajectories of limbs have been planned systematically based on equation of motion and their following interpretation for the human movements from their joints and muscles. The human motion is controlled by the central nervous system (CNS) based on model predictive control (MPC). In our projected representations, MPC controller analyses the essential moments at the joints, and these ideal moments are applied to the muscles. furthermore, MPC controller acts the role of the spinal cord in the humanoid CNS. The outcomes of simulation are compared with several examples of real humanoid gait, gained from motion captured systems. According to comparison, the possibility of additional use of the model for individual identification and acknowledgement of gait eccentricities are predictable.

2 citations


Cites background or methods from "Dynamics of Robotic Systems"

  • ...In papers [9, 10] only the analytical method of calculation is used, and in [6–8] the MPC controller is used....

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  • ...ω – the moments and responses in connections (joints) and support: u1, u2 – the moments in connection of shins and hips of the first and second leg, q1, q2 – the moments in connection of the casing with the first and second hip, P1, P2- the moments of forces applied to the first and second shins, respectively, R2x, R2y– horizontal and vertical component forces of response of the support operating on a supporting leg from a surface on which relocation is carried out [9, 10]....

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  • ...The detailed solution and sequential simplification of these equations is provided in papers [9, 10]....

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Proceedings ArticleDOI
01 Aug 2018
TL;DR: This paper aims to define a fast and easy means of designing tree-type architecture manipulator systems using exponential coordinates, which will simplify the optimization process in future system and control designs.
Abstract: This paper aims to define a fast and easy means of designing tree-type architecture manipulator systems using exponential coordinates. Exponential coordinates allow for a simple definition of joint movements in a manipulator, which is well suited to the modeling of different complex architectures. Using this approach, it is possible to derive a unified framework for the manipulator and object dynamics in a closed-form manner. The key benefits of this methodology are its simplicity and flexibility. Using this newly derived form of dynamics, it becomes easy to change the manipulator structure from one design to another, which will simplify the optimization process in future system and control designs. A numerical example is demonstrated to prove the proposed method effectiveness.

Cites background or methods from "Dynamics of Robotic Systems"

  • ...In the past several decades, the modeling and control of multi-fingered robot hands [1], [2] has been a major topic in robotics and control, and has been extended to a combination of a robotic hand and robotic arm [3], [4], and additional conceptual tree-type manipulators [5]....

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  • ...[5], which were used to develop formulas with Denavit– Hartemberg parameters to describe joint properties....

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References
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Journal ArticleDOI
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Abstract: This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator control. We reformulated the manipulator con trol problem as direct control of manipulator motion in oper ational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and kine matic transformation. Outside the obstacles' regions of influ ence, we caused the end effector to move in a straight line with an...

6,515 citations

Book
01 Jan 1986
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Abstract: 1. Introduction. 2. Spatial Descriptions and Transformations. 3. Manipulator Kinematics. 4. Inverse Manipulator Kinematics. 5. Jacobians: Velocities and Static Forces. 6. Manipulator Dynamics. 7. Trajectory Generation. 8. Manipulator Mechanism Design. 9. Linear Control of Manipulators. 10. Nonlinear Control of Manipulators. 11. Force Control of Manipulators. 12. Robot Programming Languages and Systems. 13. Off-Line Programming Systems.

5,992 citations

Journal ArticleDOI
TL;DR: The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.
Abstract: There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to ...

3,342 citations

Journal ArticleDOI
01 Feb 1987
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Abstract: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.

2,849 citations