APPLICATION OF DYNAMIC CONSTRAINT EQUATIONS TO OPEN LOOP CONTROL OF REDUNDANT MANIPULATORS

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SADIGH MOHAMMAD JAFAR; TAHMASIAN SEVAK

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Journal: Journal of Control Year:2010 | Volume:4 | Issue:1 Page(s): 61-71

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Information Journal Paper

Title

APPLICATION OF DYNAMIC CONSTRAINT EQUATIONS TO OPEN LOOP CONTROL OF REDUNDANT MANIPULATORS

Author(s)

SADIGH MOHAMMAD JAFAR | TAHMASIAN SEVAK | Issue Writer Certificate

Keywords

REDUNDANT MANIPULATORSQ3

PATH PLANNINGQ2

LOAD DISTRIBUTIONQ3

Abstract

This paper presents a novel method for PATH PLANNING of REDUNDANT MANIPULATORS. The idea is to use LOAD DISTRIBUTION as an objective function for resolving kinematic redundancy. The method is based on imposing a set of convenient relation among joint torques as dynamic constraints to system. Two algorithms for PATH PLANNING of REDUNDANT MANIPULATORS subject to dynamic constraints are proposed. The first algorithm takes advantage of all necessary dynamic constraint equations which can be approximately solved using a pseudo-inverse technique, whereas the second algorithm is based on finding a good starting point with fair LOAD DISTRIBUTION and generate the path by imposing as many dynamic constraint equations as the number of degrees of redundancy. The results for PATH PLANNING of a 3-DOF planar manipulator using this method are presenteded.

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APA: Copy

SADIGH, MOHAMMAD JAFAR, & TAHMASIAN, SEVAK. (2010). APPLICATION OF DYNAMIC CONSTRAINT EQUATIONS TO OPEN LOOP CONTROL OF REDUNDANT MANIPULATORS. JOURNAL OF CONTROL, 4(1), 61-71. SID. https://sid.ir/paper/120919/en

Vancouver: Copy

SADIGH MOHAMMAD JAFAR, TAHMASIAN SEVAK. APPLICATION OF DYNAMIC CONSTRAINT EQUATIONS TO OPEN LOOP CONTROL OF REDUNDANT MANIPULATORS. JOURNAL OF CONTROL[Internet]. 2010;4(1):61-71. Available from: https://sid.ir/paper/120919/en

IEEE: Copy

MOHAMMAD JAFAR SADIGH, and SEVAK TAHMASIAN, “APPLICATION OF DYNAMIC CONSTRAINT EQUATIONS TO OPEN LOOP CONTROL OF REDUNDANT MANIPULATORS,” JOURNAL OF CONTROL, vol. 4, no. 1, pp. 61–71, 2010, [Online]. Available: https://sid.ir/paper/120919/en

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