By Seyed Ehsan Shafiei
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1996) was be developed (see Appendix 2). 46 Advanced Strategies for Robot Manipulators Proposition: The closed-loop hyper redundant arm system is stable if the control law is • Fθ ( s , t ) = − kθ1 ( s ) ⋅ eθ s ( s' , t ) − kθ2 ( s ) ⋅ eθs ( s' , t ) (89) ] [ Fq ( s , t ) = − kq1 ( s ) ⋅ tg −1 (cosθ s ( s' , t )) ⋅ tgqs ( s'' , t ) − q d ( s ) (90) where s'∈ [ 0 , l' ] , s''∈ [ 0 , l'' ] and kθ1 ( s ), kθ2 ( s ), k q1 ( s ) are positive coefficients of the control law for all s ∈ [ 0 , l ] . The parameter of the control law (88), (89), can be inferred from the image feature extraction of the two planes.
The force sensors distribution There are four internal chambers in the cylinder, each of them containing the ER fluid with an individual control circuit. The deformation in each cylinder is controlled by an independent electrohydraulic pressure control system combined with the distributed control of the ER fluid. The last m elements (m < N) represent the grasping terminal. These elements contain a number of force sensors distributed on the surface of the cylinders. These sensors measure the contact with the load and ensure the distributed force control (Singh & Popa, 2005) during the grasping.
4, pp. 338–342, 1987. The Comparative Assessment of Modelling and Control of Mechanical Manipulator 25 Korayem M. H. & Ghariblu H. (2004). Analysis of wheeled mobile flexible manipulator dynamic motions with maximum load carrying capacities, Robotics and Autonomous Systems, Vol. 48, No. 2-3, pp. H. & Rahimi Nohooji H. (2008). Trajectory optimization of flexible mobile manipulators using open-loop optimal control method, LNAI, Springer-Verlag Berlin Heidelberg, Vol. 5314, Part 1, pp. 54–63. Korayem M.
Advanced Strategies for Robot Manipulators by Seyed Ehsan Shafiei