A displacement analysis of the general spatial 7-link, mechanism

Duffy, Joseph; Crane, Carl D.

doi:10.1016/0094-114x(80)90001-4

Cited by 97 publications

(34 citation statements)

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“…This bound was made constructive by Duffy and Crane [29] and reduced to 16 by Primrose [94]. However, it was Lee and Liang [57] who gave a constructive procedure for finding the inverse kinematic solutions for a general manipulator.…”

Section: Bibliographymentioning

confidence: 99%

A Mathematical Introduction to Robotic Manipulation

Murray¹,

Sastry²,

Li³

2017

2,714

2,002

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Section: Bibliographymentioning

confidence: 99%

A Mathematical Introduction to Robotic Manipulation

Murray¹,

Sastry²,

Li³

2017

2,714

2,002

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“…La metodología a utilizar para establecer los parámetros de referencia entre elementos del robot, es la teoría unificada de [10], la cual ha sido implementada con éxito en la cinemática de manipuladores seriales complejos, como el robot de seis eslabones [11], e inclusive en aplicaciones espaciales [12; 13]. De acuerdo con [14], los elementos tridimensionales se definen usando seis parámetros cinemáticos, que se muestran en la figura 2 y que son explicados a continuación.…”

Section: Cinemática De Posición Del Manipulador Movemaster Rv-m1unclassified

Modelado dinámico del manipulador serial Mitsubishi Movemaster RV-M1 usando SolidWorks

Cantillo

Charris

Rodríguez

et al. 2017

revuin

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RESUMENSe presenta la aplicación del principio energético Lagrange-Euler para obtener el modelo matemático de la dinámica del robot Mitsubishi Movemaster RV-M1. La determinación de la ubicación de los centros de masa de cada eslabón y las matrices de inercia se realiza a partir de un modelo CAD generado con el software SolidWorks, en el cual se tuvo en cuenta los elementos internos de cada eslabón con su material y ubicación. El modelo matemático se usa para calcular los torques requeridos en una estrategia de control de compensación por gravedad, y se compara el efecto de las propiedades obtenidas con SolidWorks en la respuesta del robot con aquella obtenida utilizando parámetros reportados en literatura existente. Se lograron resultados satisfactorios en los errores del espacio de la tarea mediante este enfoque, no experimental pero detallado, para determinar las propiedades dinámicas de un robot usando un software muy común en los programas de Ingeniería Mecánica de las universidades colombianas.Palabras clave: dinámica, Movemaster RV-M1, robótica, SolidWorks. ABSTRACTThis paper presents how the mathematical model of the Mitsubishi RV-M1 robot dynamics is obtained from the application of the Lagrange-Euler energy principle. A SolidWorks CAD model of the robot was created, where the internal elements material and location were considered for each link. This detailed CAD model was used in the attainment of the centers of mass and the inertia matrixes of each link. The gravity compensation control law was simulated for the robot, and the mathematical dynamic model was used to calculate the control torques. The results obtained for the SolidWorks generated values were compared against those using dynamic properties in available literature. Satisfactory results were obtained in the workspace error by using an approach that is very detailed although non-experimental, supported with a software that is widely used in the Mechanical Engineering Programas of the Colombian universities.Keywords: dynamics, Movemaster RV-M1, robotics, SolidWorks. INTRODUCCIÓNDebido a las exigencias de calidad, seguridad y eficiencia que se han gestado en los sistemas de producción actuales, las industrias han optado por implementar tecnología para mejorar sus procesos. Uno de los avances tecnológicos ha sido la incursión de manipuladores robóticos en tareas repetitivas de precisión y gran riesgo para el ser humano [1], por lo que la Academia se ha apoyado en modelos que permitan la aplicación de todos los conceptos que encierra la robótica. Para tal fin, el manipulador Mitsubi shi Movemaster RV-M1 ha sido ampliamente usado como modelo para desarrollos teórico-prácticos, como se observa en [2; 3]. Dentro de estos conceptos fundamentales, un modelado dinámico detallado permite una mejor estimación de las ganancias de las estrategias de control, y consecuentemente una implementación más sencilla [4]. Son pocas las investigaciones documentadas acerca del modelado dinámico explícito del manipulador RV-M1. En el año 2010, en [5], se presentó la...

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“…It has been shown that the kinematic behaviour of robots can be described in terms of a set of polynomials that can be solved iteratively (Manseur and Doty 1992a, 1992b. One such method features a set of eight polynomials 188 Industrial Robotics: Theory, Modelling and Control which were solved numerically to obtain different possible solutions to the inverse position problem; it could therefore be concluded that the maximum number of meaningful solutions to the inverse position problem of a general robotic structure is 16 (Tsai and Morgan 1985), rather than 32 as had previously been suggested (Duffy and Crane, 1980). However it has been pointed out that a manipulator with 16 different real inverse position solutions can seldom be found in real life (Manseur and Doty, 1989).…”

Section: Literature Surveymentioning

confidence: 99%

“…The theory of dual-number algebra was introduced into the field of kinematics back in the 1960's (Yang and Freudenstein, 1964); and it did appeal to researchers in the field of robot kinematics (Pennock and Yang, 1985;Gu and Luh, 1987;Pardeep et al, 1989). In addition to these approaches, which are based on matrices, vector methods were also employed in the field of kinematic analysis of robots (Duffy, 1980;Liang, 1988A and1988B). Many industrial robots possess parallel and intersecting joint-axes and their direct-position models can be inverted analytically such that closed-form solutions may be obtained for the joint-displacements (Gupta, 1984;Pennock and Yang, 1985;Pardeep et al, 1989;Wang and Bjorke, 1989).…”

Section: Literature Surveymentioning

confidence: 99%

Inverse Position Procedure for Manipulators with Rotary Joints

Sultan¹

2006

Industrial Robotics: Theory, Modelling and Control

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A displacement analysis of the general spatial 7-link, mechanism

Cited by 97 publications

References 3 publications

A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation

Modelado dinámico del manipulador serial Mitsubishi Movemaster RV-M1 usando SolidWorks

Inverse Position Procedure for Manipulators with Rotary Joints

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