Advanced Strategies for Robot Manipulators by Seyed Ehsan Shafiei

By Seyed Ehsan Shafiei

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These angles are measured directly or indirectly. The angle θ ( s ) is measured dircetly by the projection on the image plane ZS1 OS1 YS1 (relation 78) and q(s) is computed from the projection on the image plane ZS2 OS2 YS2 (relation 79). ,1996) was be developed (see Appendix 2). 46 Advanced Strategies for Robot Manipulators Proposition: The closed-loop hyper redundant arm system is stable if the control law is • Fθ ( s , t ) = − kθ1 ( s ) ⋅ eθ s ( s' , t ) − kθ2 ( s ) ⋅ eθs ( s' , t ) (89) ] [ Fq ( s , t ) = − kq1 ( s ) ⋅ tg −1 (cosθ s ( s' , t )) ⋅ tgqs ( s'' , t ) − q d ( s ) (90) where s'∈ [ 0 , l' ] , s''∈ [ 0 , l'' ] and kθ1 ( s ), kθ2 ( s ), k q1 ( s ) are positive coefficients of the control law for all s ∈ [ 0 , l ] .

2001). Trajectory planning of mobile manipulator with end-effector's specified path, Proc. IEEE Int. Conf. on Intelligent Robots and systems, pp. 2264-2269 Papadopoulos E. & Rey, D. (1996). A New measure of tip over stability margin for mobile manipulators, Proc. IEEE Int. Conference on Robotics and Automation, pp. 3111-3116 Papadopoulos E. & Gonthier, Y. (1999) A framework for large-force task planning of mobile redundant manipulators, J. of Robotic Systems, Vol. 16, No. 3, pp. ; Poulakakis I.

Robinson and Davies (Robinson & Davies, 1999) present the “state of art” of continuum robots, outline their areas of application and introduce some control issues. The great number of parameters, theoretically an infinite one, makes very difficult the use of classical control methods and the conventional transducers for position and orientation. The lack of no discrete joints is a serious and difficult issue in the determination of the robot’s shape. A solution for this problem is the vision based control of the robot, kinematics and dynamics.

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