A framework for a supervisory expert system for robotic manipulators with joint-position limits and joint-rate limits / Arthur G.O. Mutambara, Jonathan Litt.

Format:

Book

Government document

Author/Creator:

Mutambara, Arthur G. O., author.

Litt, Jonathan S., author.

Contributor:

Lewis Research Center, issuing body.

U.S. Army Research Laboratory

Series:

NASA technical memorandum ; 1998-208845.

ARL-TR (Aberdeen Proving Ground, Md.) ; 1855.

NASA/TM ; 1998-208845

ARL-TR ; 1855

Language:

English

Genre:

Online resources.

technical reports.

Technical reports.

Physical Description:

1 online resource (18 pages) : illustrations.

Place of Publication:

Cleveland, Ohio : National Aeronautics and Space Administration, Lewis Research Center : U.S. Army Research Laboratory, December 1998.

Summary:

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Notes:

"December 1998."

"Performing organization: NASA Lewis Research Center and U.S. Army Research Laboratory"--Report documentation page.

Includes bibliographical references (page 18).

Online resource; title from PDF title page (NASA, viewed Nov. 20, 2017).

Other Format:

Print version: Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

Microfiche version: Mutambara, Arthur G.O. Framework for a supervisory expert system for robotic manipulators with joint-position limits and joint-rate limits

OCLC:

858261808