Development of method of forming signals for the actuators of manipulators with redundant degrees of mobility

Gornostaev, Igor; Gubankov, Anton

doi:10.1109/icieam.2017.8076207

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…To expand the SM working area, it is possible to provide it with an additional linear DoF in a horizontal plane [3]. In this case, it is necessary to obtain a new IKP solution for a specific SM [4].…”

Section: Introductionmentioning

confidence: 99%

“…Note that the paper constitutes an extension of the conference papers [3,5,26], both theoretically and experimentally. Namely, papers [3,5] consider the application of the presented approach for controlling the SM installed on the body of an autonomous underwater vehicle moving near the object of work by means of only one DoF provided by the propulsion complex of the vehicle. In this case, the well-known IKP solution was used, which allows the SM to work only in the front semi-sphere of the apparatus.…”

Section: Introductionmentioning

confidence: 99%

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Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

2023

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The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control accuracy of the working tools of serial manipulators when they move along arbitrary spatial trajectories, taking into account restrictions in all degrees of freedom and special cases of their link positions. The maintenance of the control accuracy could be ensured by eliminating the reach of all degrees of freedom of manipulators to their limits and to indicated special positions, characterized by an ambiguity when solving the inverse kinematic problems of various serial manipulators. This is in addition to preventing the reach of their working tools to the boundaries of the working area due to the use of a redundant degree of freedom when approaching the indicated undesirable positions. The experimental studies performed in this paper confirm the efficiency of the proposed method and allow accurate characteristics to be obtained.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

2023

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Linear Quadratic optimal control for Puma Robotics

Alkurawy

2020

2020 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA)

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Development of the Method of Formation the Reference Signals for Electric Actuators of Manipulators with Redundant Degrees of Freedom. Part I

Filaretov

Gubankov

Gornostaev

2022

Mehatronika, avtomatizaciâ, upravlenie

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The solution of task of maintaining the dynamic accuracy of control of working tools of multilink manipulators (MM) when they move along arbitrary spatial trajectories is presented in this paper. In this case, constructive restrictions in all degrees of freedom (DoF) of manipulators and special cases of location of their links are taken into account. These special (singular) positions are characterized by ambiguity in solving inverse kinematics problem of these MM. Maintaining of control accuracy is proposed to be ensured by excluding the enter of all DoFs of manipulators to the restrictions, as well as excluding the enter of their working tools to the boundaries of the working area. This is accomplished by using a redundant DoF when approaching these undesirable positions. In the first part of the article, the features of the new solution of the inverse kinematics problem are considered and singular positions for 6-DoF manipulators with PUMA kinematic schemes are described. The presented solution of the inverse kinematics problem takes into account various combinations of genera- lized coordinates of the MM, which ensure the movement of their working tools to the specified positions with the required spatial orientation. This solution has low computational complexity compared to other known methods. This allows the use of low-power microprocessor computers to control the MM. The results of the performed mathematical simulation confirmed the high efficiency of using the proposed approach to the contour control of the MM.

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Development of method of forming signals for the actuators of manipulators with redundant degrees of mobility

Cited by 3 publications

References 6 publications

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

Linear Quadratic optimal control for Puma Robotics

Development of the Method of Formation the Reference Signals for Electric Actuators of Manipulators with Redundant Degrees of Freedom. Part I

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