Kinematic control of constrained robotic systems

Detalhes bibliográficos
Autor(a) principal: Freitas,Gustavo M.
Data de Publicação: 2011
Outros Autores: Leite,Antonio C., Lizarralde,Fernando
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Sba: Controle & Automação Sociedade Brasileira de Automatica
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000600002
Resumo: This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.
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spelling Kinematic control of constrained robotic systemsParallel robotsredundant robotsmulti-robot coordinationkinematic singularitiesThis paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.Sociedade Brasileira de Automática2011-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000600002Sba: Controle & Automação Sociedade Brasileira de Automatica v.22 n.6 2011reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592011000600002info:eu-repo/semantics/openAccessFreitas,Gustavo M.Leite,Antonio C.Lizarralde,Fernandoeng2012-01-13T00:00:00Zoai:scielo:S0103-17592011000600002Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2012-01-13T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false
dc.title.none.fl_str_mv Kinematic control of constrained robotic systems
title Kinematic control of constrained robotic systems
spellingShingle Kinematic control of constrained robotic systems
Freitas,Gustavo M.
Parallel robots
redundant robots
multi-robot coordination
kinematic singularities
title_short Kinematic control of constrained robotic systems
title_full Kinematic control of constrained robotic systems
title_fullStr Kinematic control of constrained robotic systems
title_full_unstemmed Kinematic control of constrained robotic systems
title_sort Kinematic control of constrained robotic systems
author Freitas,Gustavo M.
author_facet Freitas,Gustavo M.
Leite,Antonio C.
Lizarralde,Fernando
author_role author
author2 Leite,Antonio C.
Lizarralde,Fernando
author2_role author
author
dc.contributor.author.fl_str_mv Freitas,Gustavo M.
Leite,Antonio C.
Lizarralde,Fernando
dc.subject.por.fl_str_mv Parallel robots
redundant robots
multi-robot coordination
kinematic singularities
topic Parallel robots
redundant robots
multi-robot coordination
kinematic singularities
description This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.
publishDate 2011
dc.date.none.fl_str_mv 2011-12-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000600002
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000600002
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S0103-17592011000600002
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Automática
publisher.none.fl_str_mv Sociedade Brasileira de Automática
dc.source.none.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica v.22 n.6 2011
reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica
instname:Sociedade Brasileira de Automática (SBA)
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instname_str Sociedade Brasileira de Automática (SBA)
instacron_str SBA
institution SBA
reponame_str Sba: Controle & Automação Sociedade Brasileira de Automatica
collection Sba: Controle & Automação Sociedade Brasileira de Automatica
repository.name.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)
repository.mail.fl_str_mv ||revista_sba@fee.unicamp.br
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