Modeling, Identification and Control of Robots

Khalil, Wisama; Dombre, Etienne; Nagurka, ML

doi:10.1115/1.1566397

Cited by 383 publications

(576 citation statements)

References 0 publications

Supporting

Mentioning

549

Contrasting

Unclassified

Order By: Relevance

“…arm lengths, encoder offsets). In literature DGM (q m ) is often called the Direct Geometric Model [11] or forward kinematics function [12], [13]. Khalil and Dombre have derived symbolic expressions for equation 3 for the specific case of a 6-axes Stäubli robot.…”

Section: Coordinate Frames and Transformationsmentioning

confidence: 99%

Ethernet-based communication framework for sensor integration on industrial robots

Graaf¹,

Aarts²,

Meijer³

et al. 2007

The Proceedings of First International Conference on Robot Communication and Coordination

View full text Add to dashboard Cite

Abstract-This paper presents a communication framework for integrating sensors in a robotic laser welding system. The framework was originally developed for the application of sensorguided robotic laser welding, but the principles are generic, making it useful in other application areas as well. To use the sensor measurements during the robot motion, a synchronisation mechanism is presented for an image-based seam-tracking sensor that is integrated with an industrial 6-axis robot. The communication layer uses Ethernet TCP/IP communication and the synchronisation mechanism uses Ethernet UDP communication. Experimental validation is performed on industrial equipment to determine the accuracy of the proposed synchronisation mechanism.

show abstract

Section: Coordinate Frames and Transformationsmentioning

confidence: 99%

Ethernet-based communication framework for sensor integration on industrial robots

Graaf¹,

Aarts²,

Meijer³

et al. 2007

The Proceedings of First International Conference on Robot Communication and Coordination

View full text Add to dashboard Cite

show abstract

“…are needed, see (26) and (33), and no second-order derivatives (Hessian matrices, derivative of Jacobians, etc.) are required, see (25) and (34).…”

Section: Advantages and Disadvantages Of The Proposed Approachmentioning

confidence: 99%

“…Remark: Note that the acceleration equality (39) is equivalent to the classical operational space robot control [33]. Moreover, the commanded accelerationv c in (39) for the coordination vector (i.e.,v c =v ref +K 2,p e+K 2,vė ) represents a classical kinematic controller utilized for robotic trajectory tracking [34] (i.e., a correction based on the position and velocity errors plus a feedforward of the second-order time derivative of the reference) and introduces the poles given by the roots of the polynomial with coefficients…”

Section: Smooth Acceleration Optionsmentioning

confidence: 99%

Robot coordination using task-priority and sliding-mode techniques

Gracia

Sala

Garelli

2014

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

ElsevierGracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014) AbstractIn this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.

show abstract

“…For the simulations of this section, it is used a classical kinematic controller utilized for robotic trajectory tracking [27], see controller is simply implemented as a proportional controller with correction gain K p . Therefore, the desired workspace velocity vectorṗ d generated by the kinematic controller results in:…”

Section: Kinematic Controllermentioning

confidence: 99%

A supervisory loop approach to fulfill workspace constraints in redundant robots

Gracia

Sala

Garelli

2012

Robotics and Autonomous Systems

View full text Add to dashboard Cite

ElsevierGracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60 (1) AbstractAn approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential fieldbased approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.

show abstract

Modeling, Identification and Control of Robots

Cited by 383 publications

References 0 publications

Ethernet-based communication framework for sensor integration on industrial robots

Ethernet-based communication framework for sensor integration on industrial robots

Robot coordination using task-priority and sliding-mode techniques

A supervisory loop approach to fulfill workspace constraints in redundant robots

Contact Info

Product

Resources

About