• Title/Summary/Keyword: effector analysis

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POSITION CONTROL OF A FLEXIBLE ROBOT ARM UNDER IMPULSIVE LOADING THE TIP

  • Chonan, Seiji;Yuki, Yasuhiro
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10b
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    • pp.896-901
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    • 1990
  • A simulation analysis is presented for the position control of a single-link flexible manipulator whose end-effector is subjected to an impulsive force. Arm is rotated by a d.c. servomotor at the shoulder so that the end point stays precisely at its initial position even if the end effector is thumped with the impulsive loading. A gap sensor is used to measure the tip displacement. The control torque based on the PD control law is applied to the motor through the driver circuit. The control strategy is tested by means of computer simulation for the one-link flexible-arm prototype in the authers' laboratory at Tohoku Univ.

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Force Transmission Analyses with Dimensionally Homogeneous Jacobian Matrices for Parallel Manipulators

  • Kim, Sung-Gaun;Jeha Ryu
    • Journal of Mechanical Science and Technology
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    • v.18 no.5
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    • pp.780-788
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    • 2004
  • To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

Compliance Analysis of Constrained Spatial Flexible Manipulators (구속받는 3차원 유연 매니퓰레이터의 컴플라이언스 해석)

  • Kim, Jin-Soo
    • Transactions of the Korean Society of Machine Tool Engineers
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    • v.15 no.3
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    • pp.91-96
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    • 2006
  • The aim of this paper is to clarify the structural compliance of the constrained spatial flexible manipulator and to develop the force control by using the compliance of the links. Using the dependency of elastic deflections of links on contact force, vibrations for constrained vertical motion have been suppressed successfully by controlling the position of end-effector. However, for constrained horizontal motion, the vibrations cannot be suppressed by only controlling position of end-effector. We present the experimental results for constrained vertical motion, and constrained horizontal motion. Finally, a comparison between these results is presented to show the validity of link compliance.

Inverse and Forward Force Transmission Analyses of Parallel Manipulators using Dimensionally Homogeneous Jacobian Matrices (유니트 일치된 자코비안 행렬을 이용한 병렬구조 로봇의 힘전달 해석)

  • Kim, Sung-Gaun;Ryu, Je-Ha
    • Proceedings of the KSME Conference
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    • 2003.11a
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    • pp.1500-1505
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    • 2003
  • In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

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Extended Operational Space Formulation for the Kinematics, Dynamics, and Control of the Robot Manipulators with Redundancy (여유자유도 로봇의 기구학, 동역학 및 제어를 위한 확장실공간 해석)

  • 장평훈;박기철;김승호
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.18 no.12
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    • pp.3253-3269
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    • 1994
  • In this paper a new concept, named the Extended Operational Space Formulation, has been proposed for the effective analysis and real-time control of the robot manipulators with kinematic redundancy. The extended operational space consists of operational space and optimal null space. The operational space is used to describe robot end-effector motion; whereas the optimal null space, defined as the target space of the self motion manifold, is used to express the self motion for the secondary tasks. Based upon the proposed formulation, the kinematics, statics, and dynamics of redundant robots have been analyzed, and an efficient control algorithm has been proposed. Using this algorithm, one can optimize a performance measure while tracking a desired end-effector trajectory with a better computational efficiency than the conventional methods. The effective ness of the proposed method has been demonstrated with simulations.

Singularity and manipulability analysis of a wheeled mobile manipulator

  • Kim, Sungbok;Lee, Jaeyoung
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.104.1-104
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    • 2002
  • $\textbullet$ Proper definition of manipulability ellipsoid $\textbullet$ Volume and directional measures of manipulability $\textbullet$ Kinematic modeling as a serial connection $\textbullet$ Configuration dependent singularity $\textbullet$ Effect of nonholonomy on manipulability $\textbullet$ Effect of end-effector positioning on manipulability $\textbullet$ Effect of serial cooperation on manipulability

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Effect of U-Joint Errors Analysis for a Cubic Parallel Device (육면형 병렬기구에서의 유니버설 조인트 오차의 영향)

  • Lim, Seung-Reung;Choi, Woo-Chun
    • Proceedings of the KSME Conference
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    • 2000.11a
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    • pp.789-794
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    • 2000
  • This study proposes an error analysis for a cubic parallel device. There are many sources of errors in the device. An error analysis is presented based on an error model formed from the relation between the universal joint error of the cubic parallel manipulator and the end effector accuracy. The analysis shows that the method can be used in evaluating the accuracy of a parallel device.

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The Study of Kinematic Analysis and Control by Optimum Design of Redundantly Actuated Parallel Robot (여유구동형 병렬 로봇의 최적설계를 통한 기구학적 분석 및 제어에 관한 연구)

  • Kim, Byeong-Soo;Lee, Jeh-Won;Kim, Young-Suk;Kim, Jin-Dae;Lee, Hyuk-Jin
    • Journal of the Korean Society for Precision Engineering
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    • v.29 no.4
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    • pp.426-432
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    • 2012
  • In this study, kinematic analysis of forward kinematic, inverse kinematic and jacobian for 6-bar parallel robot was analyzed. In order to analyze the maximum workspace of 6-bar parallel robot, maximum revolution range of active joint was calculated. Also, to analyze forward dynamics and inverse dynamics of 6-bar parallel robot, recurdyn and simmechanics was utilized. Using a PI controller and Feedforward controller make an experiment with square motion of end_effector. The reference value of active joint and trace of end_effector were compared with actual experimental value.

Position and Force Control for Two Robots with Application to Load Distribution (두 로보트의 위치 및 힘 제어의 부하분배에 관한 응용)

  • Kim, Kab-Il;Jeon, Hun-Jong;Kim, Dong-Jun
    • Proceedings of the KIEE Conference
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    • 1992.07a
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    • pp.414-416
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    • 1992
  • Stability analysis and load distribution problem of two coordinating robots using full dynamic model is studied in this paper. Dynamic models of two robots are combined with the position force control strategy and the Liapunov 2nd method is used for the proof of the stability. This analysis shows that the position and force control of two coordinating robot is always stable. Also, load distribution problem is mentioned with respect to the end-effector forces minimizing joint torques.

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Vibration Analysis of the Large Substrate Handling Robot (8.5G 솔라셀 평판 핸들링 로봇의 진동 제어)

  • Park, Dong Il;Park, Cheolhoon;Park, Chanhun;Kim, Doohyung
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.498-503
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    • 2016
  • Many types of robot systems are used in the mass production line of thin film solar cells and flat panel displays. There are some issues such as the deflection and the vibration of the end-effector because robots handle large and heavy substrates at high speed. Heavy payload and high speed cause much vibration because the end-effector (fork) is made of carbon fiber reinforced polymer because of its light weightiness and sufficient stiffness. This study performs a dynamic simulation of an 8.5G solar cell substrate handling robot, including rigid and flexible bodies and a vibration controller. The fifth polynomial trajectory and the zero vibration derivative input shaping algorithm are applied. The vibration reduction is also proved in the experiments.