A Pragmatic Approach to Exploiting Full Force Capacity for Serial Redundant Manipulators
TypeArticles dans des revues avec comité de lecture
Considering a set of robotic tasks which involve physical interaction with the environment, the theoretical knowledge of the full force capacity of the manipulator is a key factor in the design or development of an efficient and economically attractive solution. Carrying its own weight while countering forces may be too much for a robot in certain configurations. Kinematic redundancy with regard to a task allows a robot to perform it in a continuous space of articular configurations; space in which the payload of the robot may vary dramatically. It may be impossible to withstand a physical interaction in some configurations, while it may be easily sustainable in others that bring the end-effector to the same location. This becomes obviously more prevalent for a limited payload robot. This letter describes a framework for these kind of operations, in which kinematic redundancy is used to explore the full extent of a force capacity for a givenmanipulator and task (in this letter, the terms “force” and “wrench” may interchangeably refer to two-, three-, or six-dimensional forces depending on the dimension of the problem and on whether they may or may not include components of translational forces and/or moments. Their dimensional definition will be explicitly given whenever specifically needed). A pragmatic force capacity index (FCI) is proposed. The FCI offers a sound basis for redundancy resolution via optimization or complete redundancy exploration, and may provide good hints for end-effector design. A practical use case involving 7-DOFs KUKA LBR iiwa was used to demonstrate the relevance of the proposed method.
Files in this item
Showing items related by title, author, creator and subject.
BEAREE, Richard; OLABI, Adel (Elsevier, 2013)Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual ...
An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining BEAREE, Richard; DIEULOT, Jean-Yves; RABATE, Patrice (Springer-Verlag, 2010)A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point ...
BESSET, Pierre; BEAREE, Richard (Elsevier, 2017)In the context of human-robot manipulation interaction for service or industrial robotics, the robot controller must be able to quickly react to unpredictable events in dynamic environments. In this paper, a FIR filter-based ...
Improving the Dynamic Accuracy of Elastic Industrial Robot Joint by Algebraic Identification Approach OUESLATI, Marouene; BEAREE, Richard; GIBARU, Olivier; MORARU, George (2012)In this paper, an improvement of the dynamic accuracy of a flexible robot joint is addressed. Based on the observation of the measured axis deformation, a simplified elastic joint model is deduced. In the first step, the ...
BESSET, Pierre; BEAREE, Richard; GIBARU, Olivier (2016)This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited ...