کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
699642 890784 2013 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Encoder based online motion planning and feedback control of redundant manipulators
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Encoder based online motion planning and feedback control of redundant manipulators
چکیده انگلیسی

This paper proposes and investigates an online motion planning and feedback control (OMPFC) scheme for redundant manipulators via techniques of quadratic programming and rotary encoder. The proposed OMPFC scheme is performed on a planar six degrees-of-freedom (DOF) manipulator. This robotic scheme incorporates the feedback of task-space position error. The joint state is obtained in real time via rotary encoders equipped on the physical manipulator. The original scheme is finally reformulated as a unified quadratic program (QP). The QP is solved online during the joint motion by employing an efficient numerical algorithm. Simulation and experimental results validate the physical realizability, online property, and efficacy of the proposed OMPFC scheme (including the employed numerical algorithm).

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 21, Issue 10, October 2013, Pages 1277–1289
نویسندگان
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