Control of Redundant Robot Manipulators: Theory and Experiments

front-matter......Page 1
1 Introduction......Page 12
1.1 Objectives of the Monograph......Page 13
1.2 Monograph Outline......Page 14
2.1 Introduction......Page 18
2.2 Kinematic Analysis of Redundant Manipulators......Page 19
2.3 Redundancy Resolution......Page 20
2.3.1 Redundancy Resolution at the Velocity Level......Page 21
2.3.2 Redundancy Resolution at the Acceleration Level......Page 29
2.4.1 Joint Limit Avoidance (JLA)......Page 31
2.4.2 Static and Moving Obstacle Collision Avoidance......Page 39
2.4.3 Posture Optimization (Task Compatibility)......Page 42
2.5 Conclusions......Page 43
3.1 Introduction......Page 45
3.2 Primitive-Based Collision Avoidance......Page 47
3.2.1 Cylinder-Cylinder Collision Detection......Page 48
3.2.2 Cylinder-Sphere Collision Detection......Page 59
3.2.3 Sphere-Sphere Collision Detection......Page 60
3.3 Kinematic Simulation for a 7-DOF Redundant Manipulator......Page 61
3.3.1 Kinematics of REDIESTRO......Page 62
3.3.2 Main Task Tracking......Page 63
3.3.3 Additional Tasks......Page 71
3.4 Experimental Evaluation using a 7-DOF Redundant Manipulator......Page 79
3.4.1 Hardware Demonstration......Page 80
3.4.3 Case 2: Collision Avoidance with a Moving Spherical Object......Page 81
3.5 Conclusions......Page 83
4.1 Introduction......Page 89
4.2.1 Constrained Motion Approach......Page 91
4.2.2 Compliant Motion Control......Page 95
4.3 Schemes for Compliant and Force Control of Redundant Manipulators......Page 99
4.3.1 Configuration Control at the Acceleration Level......Page 101
4.3.2 Augmented Hybrid Impedance Control using the Computed Torque Algorithm......Page 102
4.3.3 Augmented Hybrid Impedance Control with Self-Motion Stabilization......Page 112
4.3.4 Adaptive Augmented Hybrid Impedance Control......Page 118
4.4 Conclusions......Page 126
5.2 Algorithm Extension......Page 128
5.2.2 AHIC module......Page 129
5.2.3 Redundancy Resolution (RR) module......Page 131
5.2.4 Forward Kinematics......Page 133
5.3 Testing and Verification......Page 135
5.4.1 Description of the simulation environment......Page 139
5.4.2 Description of the sources of performance degradation......Page 140
5.4.3 Modified AHIC Scheme......Page 148
5.5 Conclusions......Page 153
6.1 Introduction......Page 155
6.2.1 Selection of Desired Impedances......Page 156
6.2.2 Selection of PD Gains......Page 166
6.2.4 Effect of Kinematic Errors (Robustness Issue)......Page 167
6.3 Numerical Results for Strawman Tasks......Page 170
6.3.1 Strawman Task I (Surface Cleaning)......Page 171
6.3.2 Strawman Task II (Peg In The Hole)......Page 174
6.4 Conclusions......Page 183
7 Concluding Remarks......Page 186
Appendix A Kinematic and Dynamic Parameters of REDIESTRO......Page 191
Appendix B Trajectory Generation (Special Consideration for Orientation)......Page 195
back-matter......Page 199