Cooperating manipulator modeling and control:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | Undetermined |
| Veröffentlicht: |
1994
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | München, Techn. Univ., Diss., 1995 |
| Beschreibung: | VII, 115 S. Ill., graph. Darst. |
Internformat
MARC
| LEADER | 00000nam a2200000 c 4500 | ||
|---|---|---|---|
| 001 | BV010151653 | ||
| 003 | DE-604 | ||
| 005 | 19980212 | ||
| 007 | t | ||
| 008 | 950425s1994 ad|| m||| 00||| undod | ||
| 016 | 7 | |a 944256651 |2 DE-101 | |
| 035 | |a (OCoLC)231640921 | ||
| 035 | |a (DE-599)BVBBV010151653 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | |a und | ||
| 049 | |a DE-91 |a DE-12 | ||
| 084 | |a ZQ 5390 |0 (DE-625)158136: |2 rvk | ||
| 084 | |a FER 988d |2 stub | ||
| 084 | |a FER 982d |2 stub | ||
| 100 | 1 | |a Connolly, Thomas Hamilton |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Cooperating manipulator modeling and control |c Thomas Hamilton Connolly |
| 264 | 1 | |c 1994 | |
| 300 | |a VII, 115 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a München, Techn. Univ., Diss., 1995 | ||
| 650 | 0 | 7 | |a Bahnsteuerung |0 (DE-588)4042803-5 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Gruppensteuerung |0 (DE-588)4378104-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Neuronales Netz |0 (DE-588)4226127-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Kollisionsschutz |0 (DE-588)4199255-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Industrieroboter |0 (DE-588)4026861-5 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Industrieroboter |0 (DE-588)4026861-5 |D s |
| 689 | 0 | 1 | |a Gruppensteuerung |0 (DE-588)4378104-4 |D s |
| 689 | 0 | 2 | |a Bahnsteuerung |0 (DE-588)4042803-5 |D s |
| 689 | 0 | 3 | |a Neuronales Netz |0 (DE-588)4226127-2 |D s |
| 689 | 0 | 4 | |a Kollisionsschutz |0 (DE-588)4199255-6 |D s |
| 689 | 0 | |5 DE-604 | |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006743198&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 943 | 1 | |a oai:aleph.bib-bvb.de:BVB01-006743198 | |
Datensatz im Suchindex
| _version_ | 1812453750549250048 |
|---|---|
| adam_text |
CONTENTS
V
CONTENTS
1 INTRODUCTION
1.1 PROBLEM STATEMENT.
1.2 EXISTING WORK.
1.2.1 MODELING OF CLOSED CHAIN MECHANISMS.
1.2.2 APPLICATIONS OF ARTIFICIAL NEURAL NETWORKS IN ROBOTICS . . . .
1.2.3 DUAL QUATERNION COORDINATES.
1.3 OUTLINE OF WORK.
2 COOPERATING MANIPULATOR MODELING
2.1 KINEMATICS .
2.1.1 FORWARD KINEMATICS .
2.1.2 INVERSE KINEMATICS.
2.1.3 JACOBIAN AND ITS TIME-DERIVATIVE.
2.2 DYNAMICS.
2.2.1 FORWARD DYNAMICS.
2.2.2 INVERSE DYNAMICS AND CONTROL ALGORITHM.
2.3 SIMULATION.
2.3.1 SOFTWARE.
2.4 EXPERIMENT.
2.4.1 FRICTION COMPENSATION.
2.4.2 IMPLEMENTATION.
2.4.2.1 HARDWARE.
2.4.2.2 SOFTWARE.
2.5 RESULTS.
1
1
3
3
4
6
6
10
10
11
13
13
15
17
26
28
29
31
31
32
32
35
36
BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/944256651
VI
CONTENTS
3
DYNAMICS MODELING USING CONSTRAINT EQUATIONS
39
3.1 GENERALIZED FORMULATION OF COOPERATING MANIPULATOR DYNAMICS . 39
3.1.1 TWO PUMA 560 MANIPULATORS RIGIDLY GRASPING A COMMON
OBJECT.42
3.2 ROLLING CONSTRAINTS.48
3.2.1 PLANAR ROLLING.48
4 NEURAL NETWORK ASSISTED ASSEMBLY 56
4.1 ASSEMBLY TASK DESCRIPTION.56
4.2 A SURVEY OF SOME NEURAL NETWORK METHODS.58
4.2.1 MULTILAYERED PERCEPTRON NETWORK.60
4.2.2 EXTENDED KOHONEN MAP.63
4.2.2.1 FORWARD COMPUTATIONS.63
4.2.2.2 GRADIENT DESCENT OPTIMIZATION.64
4.2.2.3 METHOD OF RITTER ET AL.65
4.2.3 NUMERICAL RESULTS AND DISCUSSION.66
4.2.3.1 NUMERICAL STUDY.66
4.2.3.2 DISCUSSION.67
4.3 PEG-IN-THE-HOLE INSERTION.69
4.3.1 NEURAL NETWORK HYBRID POSITION/FORCE CONTROL .69
4.3.2 EXPERIMENTAL IMPLEMENTATION.72
4.3.3 RESULTS.73
4.4 PARTS MATING USING COOPERATING MANIPULATORS.T4
4.4.1 EXPERIMENTAL IMPLEMENTATION AND RESULTS.77
5 TRAJECTORY GENERATION AND FORCE CONTROL USING DUAL QUATERNION
COORDINATES 80
5.1 JOINT SPACE INTERPOLATION.80
5.2 CARTESIAN SPACE INTERPOLATION.83
5.3 DUAL QUATERNION INTERPOLATION.87
5.4 FORCE CONTROL IN THE IMAGE SPACE.90
5.5 EXPERIMENT.93
CONTENTS
YJJ
6 CONCLUSIONS G7
6.1 CONTRIBUTIONS.
6.2 FUTURE RESEARCH.99
A KINEMATICS AND DYNAMICS EXPRESSIONS 100
A.L FORWARD KINEMATICS .100
A.2 INVERSE KINEMATICS.101
A.3 JACOBIAN AND ITS TIME-DERIVATIVE.104
A.4 FORWARD AND INVERSE DYNAMICS PARAMETERS.107 |
| any_adam_object | 1 |
| author | Connolly, Thomas Hamilton |
| author_facet | Connolly, Thomas Hamilton |
| author_role | aut |
| author_sort | Connolly, Thomas Hamilton |
| author_variant | t h c th thc |
| building | Verbundindex |
| bvnumber | BV010151653 |
| classification_rvk | ZQ 5390 |
| classification_tum | FER 988d FER 982d |
| ctrlnum | (OCoLC)231640921 (DE-599)BVBBV010151653 |
| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>00000nam a2200000 c 4500</leader><controlfield tag="001">BV010151653</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">19980212</controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">950425s1994 ad|| m||| 00||| undod</controlfield><datafield tag="016" ind1="7" ind2=" "><subfield code="a">944256651</subfield><subfield code="2">DE-101</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)231640921</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV010151653</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">und</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-91</subfield><subfield code="a">DE-12</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZQ 5390</subfield><subfield code="0">(DE-625)158136:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">FER 988d</subfield><subfield code="2">stub</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">FER 982d</subfield><subfield code="2">stub</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Connolly, Thomas Hamilton</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Cooperating manipulator modeling and control</subfield><subfield code="c">Thomas Hamilton Connolly</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">1994</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">VII, 115 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">München, Techn. Univ., Diss., 1995</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Bahnsteuerung</subfield><subfield code="0">(DE-588)4042803-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Gruppensteuerung</subfield><subfield code="0">(DE-588)4378104-4</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Neuronales Netz</subfield><subfield code="0">(DE-588)4226127-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Kollisionsschutz</subfield><subfield code="0">(DE-588)4199255-6</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Industrieroboter</subfield><subfield code="0">(DE-588)4026861-5</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="655" ind1=" " ind2="7"><subfield code="0">(DE-588)4113937-9</subfield><subfield code="a">Hochschulschrift</subfield><subfield code="2">gnd-content</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Industrieroboter</subfield><subfield code="0">(DE-588)4026861-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Gruppensteuerung</subfield><subfield code="0">(DE-588)4378104-4</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Bahnsteuerung</subfield><subfield code="0">(DE-588)4042803-5</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="3"><subfield code="a">Neuronales Netz</subfield><subfield code="0">(DE-588)4226127-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="4"><subfield code="a">Kollisionsschutz</subfield><subfield code="0">(DE-588)4199255-6</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">DNB Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006743198&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="943" ind1="1" ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-006743198</subfield></datafield></record></collection> |
| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV010151653 |
| illustrated | Illustrated |
| indexdate | 2024-10-09T16:16:30Z |
| institution | BVB |
| language | Undetermined |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-006743198 |
| oclc_num | 231640921 |
| open_access_boolean | |
| owner | DE-91 DE-BY-TUM DE-12 |
| owner_facet | DE-91 DE-BY-TUM DE-12 |
| physical | VII, 115 S. Ill., graph. Darst. |
| publishDate | 1994 |
| publishDateSearch | 1994 |
| publishDateSort | 1994 |
| record_format | marc |
| spelling | Connolly, Thomas Hamilton Verfasser aut Cooperating manipulator modeling and control Thomas Hamilton Connolly 1994 VII, 115 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 1995 Bahnsteuerung (DE-588)4042803-5 gnd rswk-swf Gruppensteuerung (DE-588)4378104-4 gnd rswk-swf Neuronales Netz (DE-588)4226127-2 gnd rswk-swf Kollisionsschutz (DE-588)4199255-6 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s Gruppensteuerung (DE-588)4378104-4 s Bahnsteuerung (DE-588)4042803-5 s Neuronales Netz (DE-588)4226127-2 s Kollisionsschutz (DE-588)4199255-6 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006743198&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Connolly, Thomas Hamilton Cooperating manipulator modeling and control Bahnsteuerung (DE-588)4042803-5 gnd Gruppensteuerung (DE-588)4378104-4 gnd Neuronales Netz (DE-588)4226127-2 gnd Kollisionsschutz (DE-588)4199255-6 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4042803-5 (DE-588)4378104-4 (DE-588)4226127-2 (DE-588)4199255-6 (DE-588)4026861-5 (DE-588)4113937-9 |
| title | Cooperating manipulator modeling and control |
| title_auth | Cooperating manipulator modeling and control |
| title_exact_search | Cooperating manipulator modeling and control |
| title_full | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_fullStr | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_full_unstemmed | Cooperating manipulator modeling and control Thomas Hamilton Connolly |
| title_short | Cooperating manipulator modeling and control |
| title_sort | cooperating manipulator modeling and control |
| topic | Bahnsteuerung (DE-588)4042803-5 gnd Gruppensteuerung (DE-588)4378104-4 gnd Neuronales Netz (DE-588)4226127-2 gnd Kollisionsschutz (DE-588)4199255-6 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Bahnsteuerung Gruppensteuerung Neuronales Netz Kollisionsschutz Industrieroboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=006743198&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT connollythomashamilton cooperatingmanipulatormodelingandcontrol |