Hybrid motion planning approach for robot dexterous hands

Caurin, Glauco Augusto de Paula; Pedro, Leonardo Marquez

doi:10.1590/s1678-58782009000400002

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…Typical examples include: deburring, contour following, grinding, machining, painting, polishing and object aligning (Namvar and Aghili, 2005) or even robot dexterous hands (Caurin and Pedro, 2009). In this framework, a study of the differential kinematics and manipulability indexes for multiple cooperating robot arms with unactuated joints is presented in (Wen and Wilfinger, 1999;Bicchi and Prattichizzo, 2000).…”

Section: Introductionmentioning

confidence: 99%

Kinematic control of constrained robotic systems

Freitas

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Lizarralde

2011

Sba Controle & Automação

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RESUMO Controle de Sistemas Robóticos com Restrições CinemáticasEste artigo considera o problema de controle de postura para sistemas robóticos com restrições cinemáti-cas. A ideia principal é considerar as restrições cinemáticas dos mecanismos a partir de suas equações estruturais, ao invés de usar explicitamente a equação de restrição. Um estudo de caso para robôs paralelos e robôs cooperativos é discutido baseado nos conceitos de cinemática direta, cinemática diferencial, singularidades e controle cinemático. Resultados de simulação, obtidos a partir de um mecanismo F our-Bar linkage, uma plataforma de Gough-Stewart planar e dois robôs cooperativos, ilustram a aplicabilidade e versatilidade da metodologia proposta.PALAVRAS-CHAVE: robôs paralelos, robôs redundantes, coordenação multi-rôbos, singularidades cinemáticas . ABSTRACTThis paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.

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