Titlebook: Control of Redundant Robot Manipulators; Theory and Experimen R. V. Patel,F. Shadpey Book 2005 Springer-Verlag Berlin Heidelberg 2005 Colli

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,Planherstellung und Fl?chenberechnung,tion in its workspace. In the 1980’s, extension of robotic applications to new non-conventional areas, such as space, underwater, hazardous environments, and micro-robotics brought new challenges for robotics researchers. The goal was to develop control schemes capable of controlling a robot in perf

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Conference proceedings 19621st editionrs in cluttered environments. A compact and fast collision-avoidance scheme would be particularly useful for robotic applications in space, underwater, and hazardous environments. Collision avoidance for robot manipulators can be divided into two categories: end-effector level and link level. Much o

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Die Verwendung der Quasikoordinaten,ssful applications dealt with position control of unconstrained motion of robot manipulators. The nature of these tasks does not require a robot to come in contact with its environment (work piece). Spray painting is an example of such a task in which the robot brings a spray gun near the surface to

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Conference proceedings 19621st edition3-D workspace of REDIESTRO, a 7-DOF experimental manipulator, is described. Figure?5.1 shows a simplified block diagram of the AHIC controller. Considering that the capabilities of the redundancy resolution scheme with respect to collision avoidance have already been fully demonstrated, in order to

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,Zus?tze und spezielle Probleme, resolution, and adaptive control in a single methodology and to demonstrate the the feasibility of the proposed scheme by computer simulations and experiments on REDIESTRO, a seven-dof experimental redundant manipulator. These objectives were achieved as follows.

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https://doi.org/10.1007/978-3-662-13277-7The desired orientation at the end of each segment is specified by the user in a pre-programed task file. This orientation is specified in the form of X-Y-Z Fixed Angles [16]. In this representation, the orientation is specified by a 3 dimensional vector . which can be converted to a Direction Cosine Matrix (DCM) representation as follows:

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Appendix A: Kinematic and Dynamic Parameters of REDIESTRO,This appendix summarizes the kinematic and dynamic parameters of REDIESTRO, a seven-dof experimental redundant manipulator. It also provides the mechanical specification of the actuators and related hardware.