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3 edition of Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism found in the catalog.

Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism

Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism

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Published by Catholic University of America, Dept. of Electrical Engineering, Goddard Space Flight Center (NASA), National Technical Information Service, distributor in Washington, D.C, Greenbelt, Md, [Springfield, Va .
Written in English

    Subjects:
  • Manipulators (Mechanism)

  • Edition Notes

    StatementCharles C. Nguyen and Sami Antrazi.
    SeriesNASA contractor report -- NASA CR-186813.
    ContributionsAntrazi, Sami S., Goddard Space Flight Center.
    The Physical Object
    FormatMicroform
    Pagination1 v.
    ID Numbers
    Open LibraryOL15390550M

    The Stewart manipulator is a 6-degrees-of-freedom (6-DOF) parallel manipulator and has been proved to possess high positioning precision and a high force–to-weight ratio. In this paper, the rigid Stewart manipulator is composed of two bodies (the end-effector and . A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator, Mech. Mach. Theory, Vol. 33(8), pp. , [Das98B] Dasgupta, B. and Mrut hyunjaya, T.S. Singularit y-Free Path Planning for the Stewart Platform Manipulator, Mechanism and Machine Theory, Vol. 33(6), pp,

    29 minutes ago  Educational FMS & Logistic System. To compare several control strategies, a classical PID control and two model based controllers are designed. Mounted on a highly reconfigurable table. SMC_SetKinConfiguration is an administrative function block. Question Shown here is a video of a 6-DoF robot manipulator moving around. Stewart Platform-based parallel support bumpers are widely used to prevent external shocks from damaging inertial navigation systems. Aiming at a severe problem that the inertially stabilized platform becomes out of control as soon as a specified shock is posed on the base of the bumper in shock tests, analysis and design of the eighteen-leg Stewart Platform-based parallel support bumper are.

    In this study, some geometric, kinematic, and dynamic aspects of the design of a Stewart-Gough platform are examined. The focus of the analyses is on a particular Stewart-Gough platform that we have constructed. The analysis begins with workspace simulations for different moving platform orientations. A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators.


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Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism Download PDF EPUB FB2

TRAJECTORY PLANNING AND CONTROL OF A 6 DOF MANIPULATOR WITH STEWART PLATFORM-BASED MECHANISM Charles C. Nguyen Principal Investigator and Associate Professor and Sami Antrazi Graduate Research Assistant submitted to Dr. Charles E. Campbell, Jr. Code Goddard Space Flight Center (NASA) Greenbelt, Maryland July Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism [microform] / Charles C.

Nguyen and Sami Antrazi Catholic University of America, Dept. of Electrical Engineering ; Goddard Space Flight Center (NASA) ; National Technical Information Service, distributor Washington, D.C.: Greenbelt, Md. The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform.

First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the : Sami Antrazi and Charles C. Nguyen. This paper deals with the trajectory planning and control of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform.

First the main components of the manipulator will be described and its operation will be by: 8. The fine positioning and orienting capability of the Stewart platform make it well-suited for use as a dexterous wrist and various constructions and utilizations of Stewart platform based wrists for fine manipulation have been reported.

The capability of the Stewart platform to provide 6-dof motion is attractive for motion simulation for Cited by: This paper presents the kinematic analysis and trajectory planning for a six-degrees-of-freedom end-effector whose design is based on the Stewart platform mechanism.

The end-effector is composed of two platforms and six linear actuators driven by stepper motors. A spring-loaded platform is used to provide passive compliance to the end-effector during a part assembly.

Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism [microform] Turning and mechanical manipulation / by Charles Holtzapffel; Experimental investigation of adaptive control of a parallel manipulator [microform]: semiannual progre.

Computers Elect. Engng Vol. 17, No. 3, pp./91 $ + Printed in Great Britain Pergamon Press plc ANALYSIS AND IMPLEMENTATION OF A 6 DOF STEWART PLATFORM-BASED ROBOTIC WRIST CHARLES C.

NGUYEN,1 SAMI C. ANTRAZI,l ZHEN-LEI ZHOUl and CHARLES E. CAMPBELL Jr2 ~Robotics and Control Laboratory, Department. dynamical equations for a 3 degree-of-freedom (DOF) CKC manipulator. Nguyen and Pooran [16] developed a learning control scheme for a 2 DOF CKC manipulator performing repetitive tasks.

Trajectory planning schemes were developed by Nguyen et al [19] for Stewart Platform-based manipulators whose actuators are driven by stepper motors. Comments to the: “Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach” and “ A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator”.

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. Goddard Space Flight Center (NASA), which consists of a 6 DOF Cincinnati T3 robot and a 6 DOF Stewart Platform-based robotic wrist mounted to the last link of the T3 robot.

The manipulator has a total of 11 DOFs since 1 DOF of the wrist is identical to that of the T3 robot. Fig. The Stewart platform is a six-axis parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding that of a conventional serial-link arm.

Its stiffness and accuracy approach that of a machine tool yet its workspace dexterity approaches that of a conventional manipulator. In this article, we study the dynamic equations of the Stewart platform manipulator. The manipulating structure now known as the Stewart platform has its origin in the design by Stewart of a 6-DOF mechanism to simulate flight conditions by generating general motion in space [3.

Get this from a library. Trajectory planning and control of a 6 DOF manipulator with Stewart Platform-based mechanism. [Charles C Nguyen; Sami Antrazi; Goddard Space Flight Center.].

It is often desired to have a compact and simple architecture for the robotic mechanism. In this paper, the kinematic and dynamic analysis of a novel 3-PRUS (P: prismatic joint, R: revolute joint, U: universal joint, S: spherical joint) parallel manipulator with a mobile platform having 6 Degree of Freedom (DoF) is explained.

JGCD Dynamic Analysis and Adaptive Control of a Stewart Platform Using a Novel Automatic Differentiation Method (2).pdf d5cd9epdf Content uploaded by James D. Turner. Robot Analysis: the mechanics of serial and parallel manipulators.

NY: John Wiley & Sons. Trajectory Planning and Control of a 6 DOF Manipulator with Stewart Platform-Based Mechanism. Maryland: NASA. Proc The kinematic analysis of parallel manipulator is difficult and it has been focus of many researchers [5][6][7] [8].

The trajectory control of parallel mechanism like this present unique. High speed tracking control of a Stewart platform manipulator is performed by employing an enhanced sliding mode control with reduced manipulator dynamics when the manipulator is. The mechanism modelled has a universal joint 2 at the base end and a spherical joint at the platform end of each leg (see Fig.

1).The disposition of base points and platform points, the directions of the fixed axes at the base and the mass distribution of the legs are completely arbitrary, and no assumption has been made concerning the kinematic and dynamic parameters of the manipulator.dynamical equations for a 3 degree-of-freedom (DOF) parallel manipulator were derived in [14].

Static force analysis using screw theory was applied in [15] to treat Stewart Platform-based manipulators. The Stewart Platform mechanism was applied to design a micromanipulator [17] performing fine motion, and to manufacture a force/torque sensor [19]. 4. DYNAMIC CONTROL OF A PARALLEL LINK MANIPULATOR USING CASCADED CMAC Controlling the motion of a parallel link manipulator like a Stewart Platform is equivalent to controlling the lengths and forces exerted by six linear actuators such that the movement of the mobile plate follows a desired trajectory and configuration.