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RISS 인기검색어
- 검색키워드
- 저자 : Ilya Tyapin (검색결과 3 건)
- 무료
- 기관 내 무료
- 유료
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Long Arm Manipulator Path Interpolation Using 4th Order B-Splines
Ilya Tyapin,Geir Hovland 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
In this paper the 6 DoF path interpolation for a long arm manipulator is presented. The method uses fourth order B-Splines to generate smooth, differentiable trajectories where Tool Center Point (TCP) positions, velocities and accelerations are continuous functions. The interpolation routine includes both position and orientation of the TCP, where the orientation is defined by a normalised quaternion. The joint positions, velocities and accelerations are also continuous and smooth functions and found using inverse kinematics conversion based on the Pieper’s solution for seven joints. The proposed method can be used for point-to-point trajectories and trajectories via points.
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Combined Stiffness Identification of 6-DoF Industrial Robot
Kai Egil Berntsen,Andre Bleie Bertheussen,Ilya Tyapin 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
In this paper a new combined local/global approach for estimating the combined stiffnesses of joints in anthropomorphic robots is presented. The stiffness of each joint is a combination of several effects: i) stiffness of the links, ii) stiffness of joint bearings and gears and iii) stiffness of the position control loops given by the individual axis controller gains in the controller software. Experimental results are presented for an ABB IRB6600 industrial robot using measurements from a FARO Xi laser tracker and an ATI Omega160 force/torque sensor. The results show that there is a significant variation in stiffness among the individual joints of the robot and that the stiffnesses of the main axes (1-3) are significantly higher than the stiffnesses of the wrist axes (4-6). The results presented in this paper are valid in the home position of the robot, but the method can be modified and used for any robot position. The method requires much less experimental data compared to a global approach. In order to see the impact of pre-loading the joints in the joint stiffness analysis an experiment was conducted on joint 1. The influence of complementary stiffness matrix Kc on Cartesian stifness matrix Kx is also evaluated in this paper.
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Magnus B. Kjelland,Michael R. Hansen,Ilya Tyapin,Geir Hovland 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The current work is on motion control of a hydraulically actuated manipulator with a view to handle offshore payload transfer between moving frames. The manipulator has redundant actuation and also, a non-actuated degree of freedom. The motion control has two targets: tool point control and compensation of the non-actuated degree of freedom. The redundancy is handled by means of pseudo-inverse kinematics while optimizing a cost function, avoiding mechanical joint limits. The compensation of the un-actuated degree of freedom employs LQR control, minimizing position and velocity error while maintaining the tracking reference for the tool-point. The proposed control scheme is implemented and experimentally validated in a practical system where the manipulator is mounted on a Stewart platform that allows for the simulation of wave induced heave motion as a disturbance.
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