Advances in Robot Kinematics: Analysis and Design, 2008
ABSTRACT The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algo... more ABSTRACT The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algorithms for robotic manipulators. For the kinematics of redundancy 1 this synthesis is accomplished by defining an extended Jacobian inverse that in certain sense approximates the Jacobian pseudo-inverse. The approximation problem is formulated in differential geometric terms, and solved using the existing results on the approximation of a prescribed codistribution by an integrable codistribution. As an illustration, extended Jacobian inverses are derived for the normal form kinematics of a stationary manipulator and a mobile robot.
Streszczenie W pracy przedstawiono budowe robota spolecznego FLASH skonstruowanego w ramach europ... more Streszczenie W pracy przedstawiono budowe robota spolecznego FLASH skonstruowanego w ramach europejskiego projektu LIREC, ktorego celem bylo opracowanie i weryfikacja technologii robotycznych towarzyszy zycia. W wyniku prac powstal robot, ktory poza wykonywaniem czynności typowo uslugowych, potrafi wchodzic w interakcje z czlowiekiem, wyrazac emocje oraz dzialac pod ich wplywem. Jest to mozliwe dzieki opracowaniu odpowiedniej konstrukcji mechanicznej i systemu sterowania, w ktorym emocje biorą czynny udzial w procesie decyzyjnym. System sterowania robota zaprojektowano zgodnie z zalozeniami architektury trojwarstwowej. Cielesnośc robota FLASH stanowi dwukolowa balansująca platforma mobilna, ekspresywna glowa, korpus i dwie rece zakonczone zrecznymi czteropalczastymi dlonmi. Budowe tych elementow robota szczegolowo omowiono w niniejszej pracy.
Journal of Automation, Mobile Robotics and Intelligent Systems, 2010
This paper addresses the constrained motion planning problem for passive joint manipulators with ... more This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control–affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the manipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and wit...
This paper addresses the trajectory tracking problem which will be regarded as an open-loop plann... more This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining a control function that drives the system output through selected points in the task space at given time instants, and simultaneously maintains the trajectory tracking constraints. The original constrained motion planning problem is replaced by an unconstrained one addressed in an extended control system representation, and solved with the task priority version of the Lifted Newton method. Solutions of example trajectory tracking problems for the kinematic car type platform illustrate the theoretical concepts.
This paper addresses the constrained motion planning problem for passive joint manipulators with ... more This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control–affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the ma-nipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and wi...
Advances in Robot Kinematics: Analysis and Design, 2008
ABSTRACT The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algo... more ABSTRACT The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algorithms for robotic manipulators. For the kinematics of redundancy 1 this synthesis is accomplished by defining an extended Jacobian inverse that in certain sense approximates the Jacobian pseudo-inverse. The approximation problem is formulated in differential geometric terms, and solved using the existing results on the approximation of a prescribed codistribution by an integrable codistribution. As an illustration, extended Jacobian inverses are derived for the normal form kinematics of a stationary manipulator and a mobile robot.
Streszczenie W pracy przedstawiono budowe robota spolecznego FLASH skonstruowanego w ramach europ... more Streszczenie W pracy przedstawiono budowe robota spolecznego FLASH skonstruowanego w ramach europejskiego projektu LIREC, ktorego celem bylo opracowanie i weryfikacja technologii robotycznych towarzyszy zycia. W wyniku prac powstal robot, ktory poza wykonywaniem czynności typowo uslugowych, potrafi wchodzic w interakcje z czlowiekiem, wyrazac emocje oraz dzialac pod ich wplywem. Jest to mozliwe dzieki opracowaniu odpowiedniej konstrukcji mechanicznej i systemu sterowania, w ktorym emocje biorą czynny udzial w procesie decyzyjnym. System sterowania robota zaprojektowano zgodnie z zalozeniami architektury trojwarstwowej. Cielesnośc robota FLASH stanowi dwukolowa balansująca platforma mobilna, ekspresywna glowa, korpus i dwie rece zakonczone zrecznymi czteropalczastymi dlonmi. Budowe tych elementow robota szczegolowo omowiono w niniejszej pracy.
Journal of Automation, Mobile Robotics and Intelligent Systems, 2010
This paper addresses the constrained motion planning problem for passive joint manipulators with ... more This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control–affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the manipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and wit...
This paper addresses the trajectory tracking problem which will be regarded as an open-loop plann... more This paper addresses the trajectory tracking problem which will be regarded as an open-loop planning problem, in contrast to various feedback motion control methods. The trajectory tracking problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The problem consists in defining a control function that drives the system output through selected points in the task space at given time instants, and simultaneously maintains the trajectory tracking constraints. The original constrained motion planning problem is replaced by an unconstrained one addressed in an extended control system representation, and solved with the task priority version of the Lifted Newton method. Solutions of example trajectory tracking problems for the kinematic car type platform illustrate the theoretical concepts.
This paper addresses the constrained motion planning problem for passive joint manipulators with ... more This paper addresses the constrained motion planning problem for passive joint manipulators with friction. Constraints are imposed on a system state space vector. The dynamics of underactuated manipulators are described by a control–affine system with a drift term. In order to solve the constrained motion planning problem the imbalanced Jacobian algorithm derived from an endogenous configuration space approach is used. The state space constraints are included into the system representation of the ma-nipulator dynamics. The extended system is subject to regularisation because of the Jacobian singularities, then the unconstrained motion planning problem is solved for the regularised system. The solution of the motion planning problem for this system is equivalent to the solution of the constrained motion planning problem for an original system. Performance of the imbalanced Jacobian algorithm has been demonstrated with series of simulation for the two kinds of manipulators with and wi...
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