Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators
碩士 === 國立成功大學 === 機械工程學系 === 88 === The end-effectors of serial manipulators are likely to deviate from their goal positions due to inertia forces and external loads. The position errors aggravate in high-speed or heavy-duty applications. Many control algorithms have been developed to cop...
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ndltd-TW-088NCKU04891152015-10-13T10:59:51Z http://ndltd.ncl.edu.tw/handle/38731441241219784617 Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators 應用螺旋理論於串聯式機械臂之剛度矩陣轉換 陳啟修 碩士 國立成功大學 機械工程學系 88 The end-effectors of serial manipulators are likely to deviate from their goal positions due to inertia forces and external loads. The position errors aggravate in high-speed or heavy-duty applications. Many control algorithms have been developed to cope with position and velocity deviations of the end-effectors. Among them is the stiffness control algorithm, which relies on the congruence transformation of the stiffness matrices. The congruence transformation relates the joint stiffness matrix and the Cartesian stiffness matrix of a serial manipulator. Although the congruence transformation has been developed for about two decades, the stiffness control has not been very precise. Kao (1999) developed the extended congruence transformation to result in a satisfactory performance of the stiffness control. The main idea is to introduce an extra matrix called geometric stiffness matrix. This thesis aims to provide geometrical insights to the extended congruence transformation by using screw theory. This thesis demonstrates that the geometric stiffness matrix is related to the changes of joint screw coordinates due to small joint displacements. And the geometric stiffness matrix can thus be easily obtained without differentiating the Jacobian matrix of the manipulator. Planar 3R manipulators are studied in detail to illustrate the concepts; furthermore, the concepts and equations given in this thesis are readily applicable to three-dimensional manipulators. Huang,Chintien 黃金沺 2000 學位論文 ; thesis 35 zh-TW |
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碩士 === 國立成功大學 === 機械工程學系 === 88 === The end-effectors of serial manipulators are likely to deviate from their goal positions due to inertia forces and external loads. The position errors aggravate in high-speed or heavy-duty applications. Many control algorithms have been developed to cope with position and velocity deviations of the end-effectors. Among them is the stiffness control algorithm, which relies on the congruence transformation of the stiffness matrices.
The congruence transformation relates the joint stiffness matrix and the Cartesian stiffness matrix of a serial manipulator. Although the congruence transformation has been developed for about two decades, the stiffness control has not been very precise. Kao (1999) developed the extended congruence transformation to result in a satisfactory performance of the stiffness control. The main idea is to introduce an extra matrix called geometric stiffness matrix.
This thesis aims to provide geometrical insights to the extended congruence transformation by using screw theory. This thesis demonstrates that the geometric stiffness matrix is related to the changes of joint screw coordinates due to small joint displacements. And the geometric stiffness matrix can thus be easily obtained without differentiating the Jacobian matrix of the manipulator. Planar 3R manipulators are studied in detail to illustrate the concepts; furthermore, the concepts and equations given in this thesis are readily applicable to three-dimensional manipulators.
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author2 |
Huang,Chintien |
author_facet |
Huang,Chintien 陳啟修 |
author |
陳啟修 |
spellingShingle |
陳啟修 Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
author_sort |
陳啟修 |
title |
Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
title_short |
Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
title_full |
Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
title_fullStr |
Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
title_full_unstemmed |
Application of Screw Theory to the Extended Congruence Transformation for Serial Manipulators |
title_sort |
application of screw theory to the extended congruence transformation for serial manipulators |
publishDate |
2000 |
url |
http://ndltd.ncl.edu.tw/handle/38731441241219784617 |
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