Differential Relationships with Applications to Robot Inverse Joint Solution and Motion Correction

  • P. P. Lin
Conference paper

Abstract

The general concept of differential relationships is introduced. PUMA 560/600 robot was chosen for study from which the inverse joint solution is presented and the joint variables due to small change in pose (position and orientation) are solved by directly differentiating the inverse joint solution in order to avoid the complexity and difficulty of inverting a Jacobian matrix. In this paper, it is to investigate what change can be considered as differential change in terms of desired accuracy. By specifying a small positional change at a robot end-effector, the overall positional error and the error of each joint movement resulting from the use of differential concept are presented. An algorithm for motion correction during insertion is developed and the differential concept is employed to this algorithm.

Keywords

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References

  1. [1]
    Paul, R., Shimano, B., and Mayer, G., “Kinematic Control Equations for Simple Manipulators” IEEE Trans. on Systems, Man, and Cybenetics, Vol. SMC - 11, No. 6, June 1981, pp. 449–460.Google Scholar
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    Lee, C. “Robot Arm Kinematics, Dynamics, and Control,” Computer, Vol. 15, No. 12 Dec., 1982, pp. 62–80.CrossRefGoogle Scholar
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    Rathnaswami, V.R., and Palm, W. J., “An Inverse Joint Solution for PUMA Manipulators” Report 26, Robotics Research Center, University of Rhode Island, September, 1983Google Scholar
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    Paul, R. P., Robot Manipulators: Mathematics, Programming and Control, MIT Press, Cambridge, MA, 1981, PP. 103–109Google Scholar
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    Lin, P., “Gripper-Based Position/Force Sensor Design and Robot Hand Motion Control During Assembly,” Doctoral Dissertation, Mechanical Engineering and Applied Mechanics, University of Rhode Island, 1985Google Scholar

Copyright information

© Springer-Verlag New York Inc. 1988

Authors and Affiliations

  • P. P. Lin
    • 1
  1. 1.Mechanical EngineeringCleveland State UniversityClevelandUSA

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