Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Qingjiu Huanga Enomoto, R. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1-I3-11 O-okayama, Meguro-ku, 152-8552 Japan (Qingjiu Huanga; Enomoto, R.) |
| Abstract | There are lots of contact works with objects in works performed by manipulators. Moreover, the need of the surface contact works of polish, grinding, application, paint, inspection, etc., performed by manipulators is increasing rapidly in recent years. However, reports of studies of this kind of work are rare. This paper proposed a hybrid position, posture, force, and moment control for a six-degree-of-freedom (6-DOF) robot manipulator for the surface contact work by expansion of the conventional hybrid position and force control. Moreover, to avoid calculation of the inverse Jacobian matrix, a Difference Inverse Kinematics Method of two types was proposed to return position errors and posture errors of constraint coordinates to angle errors of joint coordinates. Using the proposed Difference Inverse Kinematics Method, a hybrid control structure was built to provide control accuracy and practicality. Furthermore, a character-erasing experiment was performed using a whiteboard as an example of surface contact work using an RPY type 6-DOF manipulator. Results of this experiment verified the effectiveness of our hybrid control for use in surface contact work. |
| Starting Page | 1444 |
| Ending Page | 1450 |
| File Size | 495842 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913213 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force control Robot control Manipulators Robot kinematics Service robots Robotic assembly Orbital robotics Production Welding Humans Experiment 6-DOF Robot Manipulator Hybrid Position Posture Force and Moment Control Difference Inverse Kinematics Method Surface Contact Work |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|