Redundancy resolution of a Cartesian space operated heavy industrial manipulator

Honegger, Marcel; Codourey, A.

doi:10.1109/robot.1998.680628

Cited by 8 publications

(9 citation statements)

References 4 publications

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“…The joint weights are tuned (e.g., in a similar way as it is described in Section 3.4) to improve the main milling task [10], which is different (but complementary) from the scope of this study. In this work, the weighting factors are tuned to improve the secondary tasks of singularity avoidance and reference posture maintenance, which are feasible in a redundant manipulator.…”

Section: Kinematic Modelling Of the Workcellmentioning

confidence: 99%

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Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes

Andrés

Gracia

Tornero

2012

Robotics and Computer-Integrated Manufacturing

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Registro de acceso restringido Este recurso no está disponible en acceso abierto por política de la editorial. No obstante, se puede acceder al texto completo desde la Universitat Jaume I o si el usuario cuenta con suscripción. Registre d'accés restringit Aquest recurs no està disponible en accés obert per política de l'editorial. No obstant això, es pot accedir al text complet des de la Universitat Jaume I o si l'usuari compta amb subscripció. Restricted access item This item isn't open access because of publisher's policy. The full--text version is only available from Jaume I University or if the user has a running suscription to the publisher's contents.

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Section: Kinematic Modelling Of the Workcellmentioning

confidence: 99%

“…tr HH tr HH − = ; with 1 F k ≤ <∞ (10) Compared to F k , the 1/ F k has the advantage of being comprised between 0 and 1. In Eq.…”

Section: Redundancy Resolution Schemesmentioning

confidence: 99%

Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes

Andrés

Gracia

Tornero

2012

Robotics and Computer-Integrated Manufacturing

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“…Other secondary criteria are: obstacle avoidance (Klein and Kee 1989), joint torque optimization (Honegger and Codourey 1998, Noble 1975, Sciavicco and Siciliano 1987, joint velocity constraints (Beiner 1999, Cleary and Tesar 1990, Martin et al 1989, Nedungadi and Kazerounian 1989, energy minimization (Beiner 1999, Chan and Dubey 1995, Klein 1985, manipulator precision (Klein 1985), speed of operation (Chan and Dubey 1995), joint limit avoidance , maximization of various end-effector dexterity measures (Klein and Kee 1989), multiple performance criteria , Erikson and Thor 1999, Nedungadi 1987, global optimization and global versus local optimization. Additional information about redundant manipulators can be found in Siciliano (1990).…”

Section: State Of the Artmentioning

confidence: 99%

Kinematic Control of Redundant Knuckle Booms

Löfgren

Wikander

2009

International Journal of Forest Engineering

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The Swedish forestry industry competes on an international market; because raw material is more expensive than in other parts of the world, the chain from the stump to the industry needs to be very effective. One part in this chain is cutting and transporting trees from the forest to the landing area for further transportation with trucks to the paper or saw mill. When cutting and transporting trees, forestry machines equipped with booms are used to handle the trees. If boom handling time can be reduced thereby increasing productivity by 10 percent, the Swedish forestry industry can earn up to 250 million Swedish crowns (US$35 million) per year.One way to decrease boom handling time is to introduce automatization. This paper describes how to solve the kinematic control of knuckle booms used on forestry machines when automatization is introduced. The objective was to develop a kinematic control strategy for maximum lifting capacity, which is suited for computer-controlled knuckle booms that are redundant. This strategy was analyzed with respect to time consumption when the manipulator tip moves along a predetermined path. The analysis was conducted on a knuckle boom used on a forwarder in a forestry application. The knuckle boom had one redundant degree of freedom. The analysis showed the necessary joint speed requirements and time consumption for certain motion cycles and also what happens when the joints reach their maximum velocity limits.

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“…By defining constraints for selected joints, the redundancies of the kinematic degrees of freedom are eliminated. 11,12 To arrange the handling as simply as possible, the remote control alerts the user by twin brightly lighted buttons (green buttons are used; red ones indicate function in operation, and unlit buttons are not active) clearly to the selected operation mode (see Figure 6). …”

Section: Application Control In the Semiautomated And Fully Automatedmentioning

confidence: 99%

Fully Automated Shotcrete Robot for Rock Support

Girmscheid

Moser

2001

Computer aided Civil Eng

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Optimized shotcrete application techniques are required in particular tunneling projects. Today, any spraying can be done by hand or by manipulator. With the development in the material technologies, the range of possible operation was enlarged. With automation of the application, an important contribution to improve performance and quality and to reduce rebound may be achieved. At the Swiss Federal Institute of Technology, Zurich, systematic research is done to develop the fully automated process control, focusing on the wet shotcrete method. With the development of the fully automated shotcrete robot, the user will have a very effective tool at his or her disposal to spray concrete shells (fully automated). With the new robot, the user may choose from three different modes: manual, semiautomated, and fully automated spraying. Especially the fully automated mode facilitates higher performance with less danger to the worker's health. Quality control is inherent in the application process in regard to layer thickness, compaction, and homogeneity.

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Redundancy resolution of a Cartesian space operated heavy industrial manipulator

Abstract: Abstract

Cited by 8 publications

References 4 publications

Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes

Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes

Kinematic Control of Redundant Knuckle Booms

Fully Automated Shotcrete Robot for Rock Support

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