Mechanics of Robotic Manipulation

Mason, Matthew T.

doi:10.7551/mitpress/4527.001.0001

Cited by 397 publications

(180 citation statements)

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“…is MIMO, uncertain, tightly coupled, nonlinear, singular, transcendental, and generates multiple solutions for redundant manipulators, due to which obtaining a closed-form analytical solution is impossible [37]. The topology of inverse kinematics and forward kinematics is also clear from Fig.…”

Section: Manipulator Model and Its Propertiesmentioning

confidence: 95%

Trajectory planning of redundant manipulator using fuzzy clustering method

Agarwal

2011

Int J Adv Manuf Technol

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The solution of inverse kinematics and trajectory planning with performance criteria for a redundant manipulator is proposed with modification in fuzzy c-means. A new fuzzy clustering model based on a new generalized validity index based on weighted within-scatter metrics and betweencluster scatter metrics for the manipulator is proposed. In order to understand the proposed algorithm and to show its performance, two simulation studies of trajectory planning with manipulability criteria for a redundant manipulator are modeled to solve the problems of finding association rules in the data and of setting up an appropriate classification procedures. The problem of redundant manipulator (which is a multi-input, multi-output nonlinear system) is new in terms of solution by clustering method. The proposed algorithm for the trajectory planning of the manipulator is simulated using Matlab®. All practical steps, from data acquisition to model validation, are illustrated using a 4 degree of freedom robot manipulator. The simulated results are compared with the numerical methods of the trajectory planning. The results are presented graphically. The proposed method has the advantage of simplicity, flexibility, and good tracking performance.

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Section: Manipulator Model and Its Propertiesmentioning

confidence: 95%

Trajectory planning of redundant manipulator using fuzzy clustering method

Agarwal

2011

Int J Adv Manuf Technol

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“…Note that the belt does not translate the part in a direction normal to the fence; in general, the motion of the part when pushed in such a fashion is quite complicated, even unpredictable [12]. However, the component of the push force along the length of the fence is due to friction alone, so our assumption that the contact is frictionless implies that the force of the push felt by the part is always orthogonal to the fence.…”

Section: Fence Function and Fence Graphmentioning

confidence: 99%

“…Robotic manipulation deals with various part-manipulation problems in industrial automation [12]. One such problem, which arises in automated assembly, is the so-called 464 P. K. Agarwal, R.-P. Berretty, and A. D. Collins Fig.…”

Section: Introductionmentioning

confidence: 99%

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A Near-Quadratic Algorithm for Fence Design

Agarwal

Berretty

Collins

2005

Discrete Comput Geom

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A part feeder is a mechanism that receives a stream of identical parts in arbitrary orientations and outputs them oriented the same way. Various sensorless part feeders have been proposed in the literature. The feeder we consider consists of a sequence of fences that extend partway across a conveyor belt; a polygonal part P carried by the belt is reoriented by each fence it encounters. We present an O(m + n 2 log 3 n)-time algorithm to compute a sequence of fences that uniquely orients P, if one exists, where m is the total number of vertices and n is the number of stable edges of P. We reduce the problem to searching for a path in a state graph that has O(n 3 ) edges. By exploiting various geometric properties of this graph, we show that it can be represented implicitly and that a desired path can be computed in O(m + n 2 log 3 n) time. We believe that our technique is quite general and could be applicable to other part-manipulation problems as well.

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“…Mechanics of planar mechanisms [1] is usually studied in the Euclidean plane, E 2 , since the elements (planar displacements) of the special Euclidean group SE (2) can be easily represented through point or directedline displacements lying on the motion plane [2][3][4]. Actually, such displacements can be described with simple tools in E 2 , for instance, bi-dimensional vectors or complex numbers [1] are commonly employed.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics of planar mechanisms reinterpreted in rigid-body’s configuration space

Gregorio

2015

Meccanica

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Mechanisms with lower mobility can be studied by using tools that are directly deduced from those of spatial kinematics as screw theory. Nevertheless, ad-hoc tools that fully exploit the peculiarities of the displacement subgroups these mechanisms move in are usually more efficient both in showing mechanisms’ features and when used to conceive numerical algorithms. Planar displacements constitute a three-dimensional subgroup with many peculiarities that allow the use of simplified tools (e.g., complex numbers) for studying planar mechanisms. Here, the systematic use of three-dimensional vector spaces to represent link poses and velocities in planar motion and planar system of forces is investigated. The result is a novel coherent set of tools that make it possible to geometrically describe kinematics and dynamics of planar mechanisms in the three-dimensional configuration space of links’ planar poses. The effectiveness of this novel approach is shown through a case study

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Mechanics of Robotic Manipulation

Cited by 397 publications

References 0 publications

Trajectory planning of redundant manipulator using fuzzy clustering method

Trajectory planning of redundant manipulator using fuzzy clustering method

A Near-Quadratic Algorithm for Fence Design

Kinematics and dynamics of planar mechanisms reinterpreted in rigid-body’s configuration space

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