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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.
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.