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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Ambike, Satyajit James, P. Schmiedeler Stanisˇic´, Michael M. |
| Copyright Year | 2010 |
| Abstract | Path tracking can be accomplished by separating the control of the desired trajectory geometry and the control of the path variable. Existing methods accomplish tracking of up to third-order geometric properties of planar paths and up to second-order properties of spatial paths using non-redundant manipulators, but only in special cases. This paper presents a novel methodology that enables the geometric tracking of a desired planar or spatial path to any order with any non-redundant regional manipulator. The governing first-order coordination equation for a spatial path-tracking problem is developed, the repeated differentiation of which generates the coordination equation of the desired order. In contrast to previous work, the equations are developed in a fixed global frame rather than a configuration-dependent canonical frame, providing a significant practical advantage. The equations are shown to be linear, and therefore, computationally efficient. As an example, the results are applied to a spatial 3-revolute mechanism that tracks a spatial path. Spatial, rigid-body guidance is achieved by applying the technique to three points on the end-effector of a six degree-of-freedom robot. A spatial 6-revolute robot is used as an illustration. |
| Sponsorship | Design Engineering Division and Computers in Engineering Division |
| Starting Page | 1231 |
| Ending Page | 1240 |
| Page Count | 10 |
| File Format | |
| ISBN | 9780791844106 |
| DOI | 10.1115/DETC2010-28061 |
| e-ISBN | 9780791838815 |
| Volume Number | Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2010-08-15 |
| Publisher Place | Montreal, Quebec, Canada |
| Access Restriction | Subscribed |
| Subject Keyword | Geometry Trajectories (physics) Manipulators Degrees of freedom End effectors Robots |
| Content Type | Text |
| Resource Type | Article |
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