Titlebook: RoManSy 9; Proceedings of the N A. Morecki,G. Bianchi,K. Jaworek Conference proceedings 1993 Springer-Verlag London 1993 Normal.control.opt

VICT

Geometrical decomposition of robot elasticity,eory, a congruence transformation is developed from the three orthogonal wrench-compliant axes and the three orthogonal twist-compliant axes. The diagonal elements are the stationary values of linear and rotational compliance and stiffness. This generalizes and is analogous to principal axes and pri

cloture

Multi-criteria optimization of robots for planar trajectory operations,optimization technics proposed in the paper are applied to a technological device comprising an arbitrary structure robot interacting with one DOF work-table. This table rotates atound an axis coinsiding with the axis of the first joint of the robot. The end-effector characteristic point tracks the

沉積物

Planning motions of robotic systems subject to force and friction constraints with an application tlities and its ability to maintain secure contact with its environment. The . is presented and used to plan a system‘s activities without violating actuation limits or frictional constraints with their tasks and environments. The technique is applied to the example of a robotic climbing machine.

警告

A new scheme for hybrid force-position control,ted in this paper. The robotic manipulator is always position controlled and the trajectory is modified by the force controller output. All the advantages of this method are deriving from its hierarchical structure.

GEAR

An adaptive implicit hybrid position force control of robots: Implementation problems,ntrol scheme has been proposed. In the paper this scheme is briefly presented and various implementation problems are discussed. The improvement of the scheme by introduction of additional explicit force feedback loop are considered. The proposed scheme is applied for robot deburring process in whic

STERN

Parallel computing of symbolic robot models and control laws: Theory and application on advanced mu various robot control structures in a minimum time. Since the most of the advanced position/force control laws employ robot dynamic compensation, the attention will be paid to the computation of robot dynamics on parallel architectures. Starting from the most efficient customized symbolic robot equ

Proponent

Decoupling and suboptimal control for robots,der certain conditions, brings the robot to the prescribed terminal state in a finite time. This control is obtained through decomposition of the system into subsystems with one degree of freedom each and applying the approach of differential games and optimal control. Explicit formulas for bounded

客觀

Multi-criteria optimization of robots for planar trajectory operations,planar trajectory firmly connected with the work-table. Solutions are found minimizing the following performance criteria: 1) maximal deviation of the radius-vector of the end-effector; 2)maximal deviation of the curve angular velocity of the work-table; 3) maximal deviation of the angle between the normal to the curve and radius-vector.

flutter

挖掘