Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Coordinated-motion control of heavy-duty industrial machines with redundancy
An efficient inverse kinematics scheme suitable for co-ordinated motion control of hydraulic manipulator-like machines with redundancy was presented. The proposed scheme used the gradient projection method to determine the joint velocities required to follow a desired endpoint trajectory while optimising a new performance criterion to avoid joint limits. The performance of the scheme was tested for a four degree-of-freedom excavator-based machine. The scheme was computationally fast and was suitable for real-time teleoperation applications. It was shown that the proposed performance criterion can be easily configured to produce different joint velocity profiles. This property of the criteria is desirable, since one can simply alter the degree of effectiveness of the joint-limit avoidance to best fit the requirement of motion control of such manipulators. The criterion was also compared with some other joint-limit avoidance criteria. It was also addressed the limitations of the joint velocities due to the loading and coupled hydraulics in heavy-duty machines. The use of gradient projection method facilitated incorporation of the joint velocity bounds in the formulations. A previously developed method was extended to make use of the maximum permissible joint velocities at all points and keep the end-effector towards the desired direction while avoiding the joint limits.
Coordinated-motion control of heavy-duty industrial machines with redundancy
An efficient inverse kinematics scheme suitable for co-ordinated motion control of hydraulic manipulator-like machines with redundancy was presented. The proposed scheme used the gradient projection method to determine the joint velocities required to follow a desired endpoint trajectory while optimising a new performance criterion to avoid joint limits. The performance of the scheme was tested for a four degree-of-freedom excavator-based machine. The scheme was computationally fast and was suitable for real-time teleoperation applications. It was shown that the proposed performance criterion can be easily configured to produce different joint velocity profiles. This property of the criteria is desirable, since one can simply alter the degree of effectiveness of the joint-limit avoidance to best fit the requirement of motion control of such manipulators. The criterion was also compared with some other joint-limit avoidance criteria. It was also addressed the limitations of the joint velocities due to the loading and coupled hydraulics in heavy-duty machines. The use of gradient projection method facilitated incorporation of the joint velocity bounds in the formulations. A previously developed method was extended to make use of the maximum permissible joint velocities at all points and keep the end-effector towards the desired direction while avoiding the joint limits.
Coordinated-motion control of heavy-duty industrial machines with redundancy
Koordinierte Bewegung der Gelenke von redundanten Industriemaschinen am Beispiel einer Erdbaumaschine
Singh, N. (Autor:in) / Zghal, H. (Autor:in) / Sepehri, N. (Autor:in) / Balakrishnan, S. (Autor:in) / Lawrence, P.D. (Autor:in)
Robotica ; 13 ; 623-633
1995
11 Seiten, 8 Bilder, 28 Quellen
Aufsatz (Zeitschrift)
Englisch
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