Optimal design and development of a five-bar finger with redundant actuation

Lee, Jae Hoon; Yi, Byung Ju; Oh, Sang–Rok; Suh, Il Hong

doi:10.1016/s0957-4158(99)00089-6

Cited by 44 publications

(22 citation statements)

References 6 publications

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“…Actuation redundancy is a means to overcome the aforementioned mechanical limitations. It potentially increases the acceleration capability, homogenizes the stiffness and manipulability, and eliminates input singularities, and thus increases the usable workspace as addressed in several publications as for instance Garg et al (2009);Gogu (2007); Krut et al (2004); Kurtz & Hayward (1992); Lee et al (1998); Nahon & Angeles (1989); O'Brien & Wen (1999); Wu et al (2009). These advantages are accompanied by several challenges for the dynamics modeling and for the PKM control.…”

Section: Introductionmentioning

confidence: 99%

Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy

Müller¹,

Hufnagel²

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

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Section: Introductionmentioning

confidence: 99%

Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy

Müller¹,

Hufnagel²

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

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“…Actuation redundancy was successfully applied to maximize and to homogenize the force output of a haptic force display (Buttolo & Hannaford, 2005). Other redundantly actuated PKM were developed for use as robot hands (Lee et al, 1998). Temporarily redundant actuation was proposed as a way to cope with singularities (Ganovski et al, 2004).…”

Section: Literature Reviewmentioning

confidence: 99%

Redundant Actuation of Parallel Manipulators

Mueller¹

2008

Parallel Manipulators, Towards New Applications

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“…Such actuation redundancy has the potential to increase the EE-acceleration, to homogenize stiffness and manipulability, and to eliminate input singularities (where the motion of the moving platform is not controllable by the actuators), and thus to increase the usable workspace. The design of RA-PKM, and the possible dexterity improvement were addressed in several publications as for instance Garg et al (2009);Gogu (2007); Krut et al (2004); Kurtz & Hayward (1992); Lee et al (1998); Nahon & Angeles (1989); O'Brien & Wen (1999); Shin et al (2011);Wu et al (2009). The existence of redundant actuators allows for control forces that have no effect on the PKM motion but rather lead to mechanical prestress within the PKM.…”

Section: Introductionmentioning

confidence: 99%

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

Mueller¹

2011

Recent Advances in Robust Control - Theory and Applications in Robotics and Electromechanics

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G (q)q + C (q,q)q + Q (q,q, t) + J T (q) λ = u. ( 2 ) G is the generalized mass matrix of the tree-system, Cq represents generalized Coriolis and centrifugal forces, Q represents all remaining forces, including EE loads, and u are the generalized control forces. The Lagrange multipliers λ can be identified with the constraint reactions in cut-joints. The vector q ∈ V n represents the PKM configuration. The configuration space (c-space) of the PKM model is defined by the geometric constraints:V := {q ∈ V n |h (q) = 0} . ( 3 ) If J has locally full rank r, one can select δ := n − r joint variables, called independent coordinates, such that the admissible configurations q ∈ V are functions of these independent coordinates. This induces a coordinate partitioning. If the rank of J is constant, the c-space is smooth δ-dimensional manifold and δ is the DOF of the PKM, see Müller (2009). A configuration q where the rank of J changes is called a c-space singularity since then V is not a smooth manifold in q. Denote with q 1 and q 2 respectively the vector of dependent and independent coordinates, the velocity constraints can be written aswhere J = (J 1 , J 2 ),withJ 1 (q) ∈ R r,r , J 2 (q) ∈ R r,δ . By definition of independent coordinates J 1 has full rank, and the generalized velocities can be expressed aṡ q = Fq 2 ,w h e r eF :where the matrix F is an orthogonal complement of J because JF ≡ 0 . The time derivative of (5) yields the accelerationsq = Fq 2 +Ḟq 2 . Due to the existence of kinematic loops, PKM comprise passive joints and only the m control forces corresponding to the active joints are present in u.D e n o t ew i t hc ≡ (c 1 ,...,c m ) the vector of generalized control forces in the actuated joints, and let A be that part of F so that F T u = A T c. This means that if q a denote the vector of m actuator coordinates, thenq a = Aq 2 . Recent Advances in Robust Control -Theory and Applications in Robotics and Electromechanics www.intechopen.com Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy 5Projecting the motion equations (2) of the tree-system to the configuration space V,w i t ht h e help of the orthogonal complement F,andwith(5),yields G(q)q 2 + C (q,q)q 2 + Q(q,q, t) = A T (q) cwhere G := F T GF, C :=F T (CF + GḞ), Q := F T Q.The δ = n − m equations (6) together with the r dynamic constraints Jq +Jq = 0 yield a system of n ODE's in the n generalized coordinates q that govern the PKM dynamics when controlled via the generalized control forces c. The equations (6) have been first proposed by Voronets (1901) and are a special kind of Maggi's equations, Maggi (1901). They have been proposed for use in multibody dynamics in Angles & Lee (1988); Wehage & Haug (1982), and were put forward for PKM modeling in Cheng et al. (2003); Müller (2005); Thanh et al. (2009). The PKM control problem can now be represented as the control-affine control systeṁwith state vector x := (q 2 ,q 2 ),wheref is the drift vector field, and the columns g i , i = 1,...,m are the control vector f...

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Optimal design and development of a five-bar finger with redundant actuation

Cited by 44 publications

References 6 publications

Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy

Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy

Redundant Actuation of Parallel Manipulators

Robust Modeling and Control Issues of Parallel Manipulators with Actuation Redundancy

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