كتاب Control of Redundant Robot Manipulators

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Control of Redundant Robot Manipulators
Theory and Experiments
R.V. Patel and F. Shadpey

ويتناول الموضوعات الأتية :

1 Introduction 1
11 Objectives of the Monograph2
12 Monograph Outline3
2 Redundant Manipulators: Kinematic Analysis
and Redundancy Resolution 7 21 Introduction 7
22 Kinematic Analysis of Redundant Manipulators 8
23 Redundancy Resolution 9
231 Redundancy Resolution at the Velocity Level9
2311 Exact Solution 10
2312 Approximate Solution13
2313 Configuration Control15
2314 Configuration Control (Alternatives for
Additional Tasks) 16
232 Redundancy Resolution at the Acceleration Level 18
24 Analytic Expression for Additional Tasks 20
241 Joint Limit Avoidance (JLA)20
2411 Definition of Terms and Feasibility Analysis 21
2412 Description of the Algorithms 23
2413 Approach I: Using Inequality Constraints 23
2414 Approach II: Optimization Constraint 24
2415 Performance Evaluation and Comparison 25
242 Static and Moving Obstacle Collision Avoidance28
2421 Algorithm Description 28
243 Posture Optimization (Task Compatibility)31
25 Conclusions32
Contents
XII Contents
3 Collision Avoidance for a 7-DOF Redundant Manipulator 35
31 Introduction35
32 Primitive-Based Collision Avoidance 37
321 Cylinder-Cylinder Collision Detection 38
3211 Review of Line Geometry and Dual Vectors 39
322 Cylinder-Sphere Collision Detection 49
323 Sphere-Sphere Collision Detection 50
33 Kinematic Simulation for a 7-DOF Redundant Manipulator 51
331 Kinematics of REDIESTRO52
332 Main Task Tracking 53
3321 Position Tracking 53
3322 Orientation Tracking 54
3323 Simulation Results 54
333 Additional Tasks61
3331 Joint Limit Avoidance 62
3332 Stationary and Moving Obstacle Collision
Avoidance62
34 Experimental Evaluation using a 7-DOF Redundant
Manipulator 69
341 Hardware Demonstration70
342 Case 1: Collision Avoidance with Stationary Spherical
Objects 71
343 Case 2: Collision Avoidance with a Moving Spherical
Object71
344 Case 3: Passing Through a Triangular Opening 73
35 Conclusions73
4 Contact Force and Compliant Motion Control 79
41 Introduction79
42 Literature Review 81
421 Constrained Motion Approach 81
422 Compliant Motion Control85
43 Schemes for Compliant and Force Control of Redundant
Manipulators 89
431 Configuration Control at the Acceleration Level91
432 Augmented Hybrid Impedance Control using the
Computed-Torque Algorithm 92
4321 Outer-loop design 92
4322 Inner-loop 94
4323 Simulation Results for a 3-DOF Planar Arm 94
Contents XIII
433 Augmented Hybrid Impedance Control with
Self-Motion Stabilization102
4331 Outer-Loop Design102
4332 Inner-Loop Design104
4333 Simulation Results on a 3-DOF Planar Arm 107
434 Adaptive Augmented Hybrid Impedance Control 108
4341 Outer-Loop Design108
4342 Inner-Loop Design109
4343 Simulation Results for a 3-DOF Planar Arm 113
44 Conclusions 116
5 Augmented Hybrid Impedance Control
for a 7-DOF Redundant Manipulator 119
51 Introduction 119
52 Algorithm Extension119
521 Task Planner and Trajectory Generator (TG) 120
522 AHIC module 120
523 Redundancy Resolution (RR) module 122
524 Forward Kinematics 124
525 Linear Decoupling (Inverse Dynamics) Controller 126
53 Testing and Verification 126
54 Simulation Study130
541 Description of the simulation environment 130
542 Description of the sources of performance
degradation 131
5421 Kinematic instability due to resolving
redundancy at the acceleration level132
5422 Performance degradation due to the model
-based part of the controller135
543 Modified AHIC Scheme 139
55 Conclusions 144
6 Experimental Results for Contact Force
and Complaint Motion Control 147
61 Introduction 147
62 Preparation and Conduct of the Experiments 148
621 Selection of Desired Impedances 148
6211 Stability Analysis 149
6212 Impedance-controlled Axis 150
6213 Force-controlled Axis:152
XIV Contents
622 Selection of PD Gains 158
623 Selection of the Force Filter 159
624 Effect of Kinematic Errors (Robustness Issue) 159
63 Numerical Results for Strawman Tasks 162
631 Strawman Task I (Surface Cleaning)163
632 Strawman Task II (Peg In The Hole)166
64 Conclusions 175
7 Concluding Remarks179
Appendix A Kinematic and Dynamic Parameters
of REDIESTRO 185
Appendix B Trajectory Generation (Special Consideration
For Orientation 189
References 193
Index 203

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