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Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera
Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation
dc.creator | Petrović, Petar | |
dc.creator | Danilov, Ivan | |
dc.date.accessioned | 2022-09-19T18:12:09Z | |
dc.date.available | 2022-09-19T18:12:09Z | |
dc.date.issued | 2017 | |
dc.identifier.issn | 1451-2092 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/2595 | |
dc.description.abstract | U okviru ovog rada koji se sastoji iz dva dela, prikazuje se novi pristup upravljanja popustljivošću vrha robota, odnosno elastomehaničkom interakcijom vrha robota i njegovog okruženja, primenom kinematske redundanse umesto aktuacione. U prvom delu ovaj pristup je prikazan kroz koncipiranje metode upravljanja krutošću promenom konfiguracije - Configuration-based Stiffness Control (CSC), za slučaj kinetosatičke konzistentnosti, primenom projekcije gradijenta optimizacione funkcije koja minimizira Euklidovu normu nedijagonalnih elemenata matrice krutosti robota izražene u unutrašnjim koordinatama. U drugom delu predložena metoda upravljanja popustljivošću je testirana simulacionim eksperimentima, koristeći kao simulacionu platformu dva posebna slučaja najjednostavnijih kinematski redundantnih robotskih ruku: Slučaj 1 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom redundansom, r = (n - m) = 1, i Slučaj 2 - eksperimenti sa jednodimenzionim radnim prostorom (m = 1) i minimalno mogućom hiperredundansom, r = 2 i r > m. U oba slučaja singulariteti i ograničenja u opsezima pokretljivosti zglobova nisu razmatrani. | sr |
dc.description.abstract | This two-part paper presents an approach to the control of robot endpoint compliance, i.e., elasto-mechanical interaction between a robot and its environment using kinematic redundancy instead of actuation redundancy. In Part I this approach is developed by proposing the Configuration-based Stiffness Control (CSC) method for kinetostatically consistent control of robot compliant behaviour, based on the gradient projection of the cost function which minimizes the norm of off-diagonal elements of the jointspace matrix. In Part II validity of the proposed compliance control method is tested by simulation experiments using as a simulation platform two specific cases of most simple kinematically redundant robot arms: Case 1 - experiments with onedimensional taskspace (m=1) and minimal possible redundancy, r = (n - m) = 1, and Case 2 - experiments with onedimensional taskspace (m=1) and minimal possible hyper-redundancy, r = 2 and r > m. In both cases the singularity and joint limits were not considered. | en |
dc.publisher | Univerzitet u Beogradu - Mašinski fakultet, Beograd | |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35007/RS// | |
dc.rights | openAccess | |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | FME Transactions | |
dc.subject | nullspace | en |
dc.subject | kinematic redundancy | en |
dc.subject | compliance control | en |
dc.title | Upravljanje popustljivosti kinematski redundantne robotske ruke promenom konfiguracije - deo II - eksperimentalna provera | sr |
dc.title | Configuration-based compliance control of kinematically redundant robot arm Part II: Experimental validation | en |
dc.type | article | |
dc.rights.license | BY | |
dc.citation.epage | 480 | |
dc.citation.issue | 4 | |
dc.citation.other | 45(4): 475-480 | |
dc.citation.rank | M24 | |
dc.citation.spage | 475 | |
dc.citation.volume | 45 | |
dc.identifier.doi | 10.5937/fmet1704475P | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/1323/2592.pdf | |
dc.identifier.scopus | 2-s2.0-85021218568 | |
dc.identifier.wos | 000408083800003 | |
dc.type.version | publishedVersion |