STABILITY OF CONTROL FORCES IN REDUNDANT MULTIBODY SYSTEMS

Date

1996-01-03

Author

IDER, SK

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

240
views

0
downloads

In this paper inverse dynamics of redundant multibody systems using a minimum number of control forces is formulated. It is shown that the control forces and the task accelerations may become noncausal at certain configurations, yielding the dynamical equation set of the system to be singular. For a given set of tasks, each different set of actuators leads to a different system motion and also to different singular configurations. To avoid the singularities in the numerical solution, the dynamical equations are modified in the neighborhoods of the singular configurations by utilizing higher order derivative information. The modification is made easier by transforming the equations of motion to the null space of the control force direction matrix. The conditions for the existence of solution are also discussed. A redundant planar manipulator is analyzed to illustrate the methods proposed.

Subject Keywords

Dynamics, Manipulators, Optimization

URI

https://hdl.handle.net/11511/63486

Journal

COMPUTERS & STRUCTURES

DOI

https://doi.org/10.1016/0045-7949(95)00125-z

Collections

Department of Mechanical Engineering, Article

Suggestions

OpenMETU
Core

Linearization and optimization of robot dynamics via inertial parameter design Soylu, Reşit (1996-08-01) In this article, the concept of linearity number (LN) is introduced to measure the ''linearity'' of the equations of motion of a serial manipulator. This number is computable in closed-form and is an average quantitative index of the degree of linearity of the robot over a specified region in the joint space. The definition is flexible, allowing the user to create custom-made definitions according to his or her specific needs. Using the concept of LN and the developed computer package CADLOR, one can design...
Optimal redundancy resolution for kinematically redundant parallel manipulators Tunç, Tansel Sıtkı; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2014) In this study, the redundancy resolution of kinematically redundant parallel manipulators has been investigated as an optimization problem. The emerging optimization problem has been solved globally using a hybrid genetic algorithm. This algorithm has been applied as an example to a planar parallel manipulator which has four degrees of freedom. It has been assumed that the manipulator is used so that only the tip point of its end-effector is controlled. Therefore, the rotation angle of the end effector has ...
On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm Rolland, Luc; Chandra, Rohitash (2010-07-08) The G3-PCX genetic algorithm is compared with hybrid meta-heuristic approaches for solving the forward kinematics problem of the 6-6 general parallel manipulator. The G3-PCX shows improvements in terms of accuracy, response time and reliability. Several experiments confirm solving the given problem in less than 1 second. It also reports all the 16 unique real solutions which are verified by an exact algebraic method. This opens the way to simulation and certification applications.
Numerical methods for multiphysics flow problems Belenli Akbaş, Mine; Kaya Merdan, Songül; Rebholz, Leo G.; Department of Mathematics (2016) In this dissertation, efficient and reliable numerical algorithms for approximating solutions of multiphysics flow problems are investigated by using numerical methods. The interaction of multiple physical processes makes the systems complex, and two fundamental difficulties arise when attempting to obtain numerical solutions of these problems: the need for algorithms that reduce the problems into smaller pieces in a stable and accurate way and for large (sometimes intractable) amount of computational resou...
Forward Kinematics of the 3RPR planar Parallel Manipulators Using Real Coded Genetic Algorithms Rolland, Luc; Chandra, Rohitash (2009-09-16) This article examines Genetic Algorithms to solve the forward kinematics problem applied to planar parallel manipulators. Most of these manipulators can be modeled by the tripod 3-RPR.

Citation Formats

S. IDER, “STABILITY OF CONTROL FORCES IN REDUNDANT MULTIBODY SYSTEMS,” COMPUTERS & STRUCTURES, pp. 115–121, 1996, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63486.