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Robotic joint-motion optimization of functionally-redundant tasks for joint-limits and singularity avoidance

Liguo Huo

PhD thesis (2009)

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Cite this document: Huo, L. (2009). Robotic joint-motion optimization of functionally-redundant tasks for joint-limits and singularity avoidance (PhD thesis, École Polytechnique de Montréal). Retrieved from https://publications.polymtl.ca/8286/
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Abstract

La méthodologie de décomposition du torseur de vitesse (TWA) et évitement des limites articulaires -- Évitement des limites articulaires et singularités -- auto-adaptation des poids en TWA -- Adaptation dynamique des pondération en TWA -- Background and basic terminology -- Problem formulation -- Research objective -- Literature review -- Level of kinematic analysis -- Differential kinematics and redundancy -- Local optimization algorithms -- Global optimization algorithms -- Redundancy-resolution in intelligent control -- Functional redundancy-resolution -- Twist decomposition approach and joint-limits avoidance -- Kinematic inversion of functionally-redundant manipulators -- Puma 500 -- Fanuc M16iB -- Fanuc 710c50 -- General task projectors -- Joint-limits and singularity avoidance in TWA -- Performance criteria -- Numerical examples -- Self-adaptation of weights in TWA -- Joint-limits and singularity avoidances -- Weights self-adaptation system -- Dynamic-adaptation of weights in TWA -- Weights dynamic-adaptation system.

Uncontrolled Keywords

Robots industriels; Robots -- Mouvements; Redondance (Ingénierie)

Open Access document in PolyPublie
Additional Information: Le fichier PDF de ce document a été produit par Bibliothèque et Archives Canada selon les termes du programme Thèses Canada https://canada.on.worldcat.org/oclc/646564864
Department: Département de génie mécanique
Date Deposited: 04 Aug 2021 11:04
Last Modified: 25 Aug 2021 14:59
PolyPublie URL: https://publications.polymtl.ca/8286/

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