TECNOLOGIA MECANICA VICENTE CHIAVERINI PDF

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Embed Size px x x x x RedundancyMany solutions per problem. RedundancyWhich one to pick? Inverse Differential Kinematic Control:.

SingularitiesSingularitiesHow to deal with kinematic singularities? Robust TechniquesFirst Technique: Damping. Arise because of competing demands. Leads to extreme joint velocities. How do we get rid of them? Task Priority Redundancy ResolutionSolve for the constraint instead:.

For a 7-dof manipulator:Exact solution flops :Chiavernis robust simplification flops :Nave minimum norm flops :Numerical AnalysisExperiments:. ConclusionNeed to avoid two kinds of singularities.

Presented approach which handles both. New approach is more computationally efficient. LimitationsNull space motions onlyConstraints always prioritized lower. Home Documents Stefano Chiaverini. Post on Feb 28 views. Category: Documents 0 download. Stefano Chiaverini. Inverse Differential Kinematic Control: A redundant system! Kinematic ControlGives an end-effector velocity which minimizes joint velocities. Filter out singularities. How to choose q0? Zeros out at singularitiesNumerical Analysis For a 7-dof manipulator:Exact solution flops :Chiavernis robust simplification flops :Nave minimum norm flops :Numerical AnalysisExperiments: Numerical AnalysisConstraint: damped undamped damped undamped ConclusionNeed to avoid two kinds of singularities.

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Embed Size px x x x x RedundancyMany solutions per problem. RedundancyWhich one to pick? Inverse Differential Kinematic Control:. SingularitiesSingularitiesHow to deal with kinematic singularities? Robust TechniquesFirst Technique: Damping. Arise because of competing demands.

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TECNOLOGIA MECANICA - Materiais de Construção Mecânica VOLUME 3 - Vicente Chiaverini.pdf

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