Download ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings by Vincenzo Parenti-Castelli, Werner Schiehlen PDF

By Vincenzo Parenti-Castelli, Werner Schiehlen

This court cases quantity includes papers which were chosen after evaluation for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on conception and perform of Robots and Manipulators. those papers hide advances on a number of features of the extensive box of Robotics as referring to conception and perform of Robots and Manipulators.

ROMANSY 2016 is the twenty first occasion in a sequence that begun in 1973 as one of many first convention actions on the earth on Robotics. the 1st occasion used to be held at CISM (International Centre for Mechanical technology) in Udine, Italy on 5-8 September 1973. It was once additionally the 1st subject convention of IFToMM (International Federation for the merchandising of Mechanism and computer technology) and it was once directed not just to the IFToMM community.

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Additional resources for ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy

Example text

141]T rad∕s . In this case, the task distortion can be represented as the vector difference of these two vectors. This difference vector lies in the row space of the instantaneous analytical Jacobian ????inst and represents the extent of disturbance caused to the primary task if the system would have been subjected to ????̇ sec instead of ????̇ ns . 4). Physical explanation for such a distortion can be obtained by computing the angle ???? between the null space and the additional task velocity which can be obtained as cos(????) = ||????̇ ns || .

Ru © CISM International Centre for Mechanical Sciences 2016 V. Parenti-Castelli and W. 1007/978-3-319-33714-2_5 39 40 Zh. Baigunchekov et al. Fig. 1 PM with cylindrical joints Following the above-mentioned trends in the development of PM, we proposed a novel structure of six-DOF three-limbed PM with cylindrical joints (PM 3CCC) (Baigunchekov et al. 2009), as shown in Fig. 1. This PM is formed by connection of a mobile platform 3 with a base 0 by three spatial dyads ABC, DEF and GHI of type CCC (C—cylindrical joint).

2 KUKA KR15/2 140 155 650 675 300 Robust Inverse Kinematics at Position Level by Means . . 27 Target motion I: WDLS Target motion I: VRA Target motion II: WDLS Target motion II: VRA Fig. 3 Hz. Target motion I: at constant heading (yaw angle) ????E = 0◦ ; Target motion II: at constant heading (yaw angle) ????E = 5◦ . 0 ⋅ 10−12 4 Experimental Results The performance of the WDLS and VRA methods were measured on a test bench consisting of a (real) KUKA robot as described in Figs. 1 and 2. The results are shown in Fig.

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