Nothing Special   »   [go: up one dir, main page]

Trotti et al., 2021 - Google Patents

A Modified Recursive Newton-Euler Algorithm Embedding a Collision Avoidance Module

Trotti et al., 2021

Document ID
8639708451319094826
Author
Trotti F
Ghignoni E
Muradore R
Publication year
Publication venue
2021 European Control Conference (ECC)

External Links

Snippet

Planning collision-free trajectories for robotic manipulators is a quite old problem that has recently re-gained importance thanks to collaborative robotics. In scenarios where a robot is moving close to an operator, it is of paramount importance to detect obstacles (eg …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Similar Documents

Publication Publication Date Title
Lee et al. Planning and control for collision-free cooperative aerial transportation
Sentis et al. A whole-body control framework for humanoids operating in human environments
Albahkali et al. Swing-up control of the pendubot: an impulse–momentum approach
Zhai et al. Adaptive control of semi-autonomous teleoperation system with asymmetric time-varying delays and input uncertainties
Fang et al. Type design and behavior control for six legged robots
Valenzuela-Urrutia et al. Virtual reality-based time-delayed haptic teleoperation using point cloud data
Ravichandar et al. Learning contracting nonlinear dynamics from human demonstration for robot motion planning
Schultz et al. Goal-predictive robotic teleoperation from noisy sensors
Hudson et al. Model-based autonomous system for performing dexterous, human-level manipulation tasks
Kebria et al. Neural network adaptive control of teleoperation systems with uncertainties and time-varying delay
Beik-Mohammadi et al. Model mediated teleoperation with a hand-arm exoskeleton in long time delays using reinforcement learning
Wirnshofer et al. State estimation in contact-rich manipulation
Chan et al. Collision-free speed alteration strategy for human safety in human-robot coexistence environments
Das et al. Neuro-adaptive dynamic control with edge-computing for collaborative digital twin of an industrial robotic manipulator
Trotti et al. A Modified Recursive Newton-Euler Algorithm Embedding a Collision Avoidance Module
US20220379478A1 (en) Object manipulation with collision avoidance using complementarity constraints
Sun et al. A Fuzzy Cluster-Based Framework for Robot–Environment Collision Reaction
Zhou et al. Collision-free compliance control for redundant manipulators: an optimization case
Pajak et al. Sub-optimal trajectory planning for mobile manipulators
Khanesar et al. A Neural Network Separation Approach for the Inclusion of Static Friction in Nonlinear Static Models of Industrial Robots
Yamane Admittance control with unknown location of interaction
Lang et al. Application of visual servo control in autonomous mobile rescue robots
Chan et al. Collision-free path planning based on new navigation function for an industrial robotic manipulator in human-robot coexistence environments
Mavrommati et al. An Application of Model Predictive Control to Reactive Motion Planning of Robot Manipulators
Manjaree et al. Modeling of multi-DOF robotic manipulators using sim-mechanics software