Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors
This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. Th...
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 1169 |
|---|---|
| container_issue | |
| container_start_page | 1164 |
| container_title | |
| container_volume | |
| creator | Boiadjiev, G. Vassileva, D. Kawasaki, H. Mouri, T. |
| description | This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. The formulated condition satisfaction in the robot configurational space leads to precise trajectory tracing in the working zone (coincidence of the sensibility direction with the trajectory tangent vector). An illustrative example is presented and the explicit results are shown. The group theory application completes the considerations and it is helpful for better mechanical interpretation |
| doi_str_mv | 10.1109/ICIT.2005.1600811 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_1600811</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>1600811</ieee_id><sourcerecordid>1600811</sourcerecordid><originalsourceid>FETCH-LOGICAL-i90t-4b07291eb16873199848a7817f02430bc75fe0c07369011290abfd5836c1a02b3</originalsourceid><addsrcrecordid>eNpNUM1KxDAYDIigrvsA4iUv0Pp9Tdok3qT4U1jwYO9r0qZLlppIEoW-vUX34FyGGWbmMITcIJSIoO66tuvLCqAusQGQiGfkCoQEprjk_IJsUzrCCqZqRLwk72_WJ2fc7PJCh-BzDDMNE412_PKj9pnGYEJO9zT9C44u2iG74BPVc_AHmqM-rk6IC83aH-za-_7V6ZqcT3pOdnviDemfHvv2pdi9Pnftw65wCnLBDYhKoTXYSMFQKcmlFhLFBBVnYAZRTxYGEKxRgFgp0GYaa8maATVUhm3I7d-ss9buP6P70HHZnz5gP6UBU20</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Boiadjiev, G. ; Vassileva, D. ; Kawasaki, H. ; Mouri, T.</creator><creatorcontrib>Boiadjiev, G. ; Vassileva, D. ; Kawasaki, H. ; Mouri, T.</creatorcontrib><description>This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. The formulated condition satisfaction in the robot configurational space leads to precise trajectory tracing in the working zone (coincidence of the sensibility direction with the trajectory tangent vector). An illustrative example is presented and the explicit results are shown. The group theory application completes the considerations and it is helpful for better mechanical interpretation</description><identifier>ISBN: 0780394844</identifier><identifier>ISBN: 9780780394841</identifier><identifier>DOI: 10.1109/ICIT.2005.1600811</identifier><language>eng</language><publisher>IEEE</publisher><subject>Ellipsoids ; Instruments ; Laboratories ; Manifolds ; Mechatronics ; Orbital robotics ; Redundancy ; Robot control ; Robot sensing systems ; Shape</subject><ispartof>2005 IEEE International Conference on Industrial Technology, 2005, p.1164-1169</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1600811$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,4050,4051,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1600811$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Boiadjiev, G.</creatorcontrib><creatorcontrib>Vassileva, D.</creatorcontrib><creatorcontrib>Kawasaki, H.</creatorcontrib><creatorcontrib>Mouri, T.</creatorcontrib><title>Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors</title><title>2005 IEEE International Conference on Industrial Technology</title><addtitle>ICIT</addtitle><description>This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. The formulated condition satisfaction in the robot configurational space leads to precise trajectory tracing in the working zone (coincidence of the sensibility direction with the trajectory tangent vector). An illustrative example is presented and the explicit results are shown. The group theory application completes the considerations and it is helpful for better mechanical interpretation</description><subject>Ellipsoids</subject><subject>Instruments</subject><subject>Laboratories</subject><subject>Manifolds</subject><subject>Mechatronics</subject><subject>Orbital robotics</subject><subject>Redundancy</subject><subject>Robot control</subject><subject>Robot sensing systems</subject><subject>Shape</subject><isbn>0780394844</isbn><isbn>9780780394841</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2005</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpNUM1KxDAYDIigrvsA4iUv0Pp9Tdok3qT4U1jwYO9r0qZLlppIEoW-vUX34FyGGWbmMITcIJSIoO66tuvLCqAusQGQiGfkCoQEprjk_IJsUzrCCqZqRLwk72_WJ2fc7PJCh-BzDDMNE412_PKj9pnGYEJO9zT9C44u2iG74BPVc_AHmqM-rk6IC83aH-za-_7V6ZqcT3pOdnviDemfHvv2pdi9Pnftw65wCnLBDYhKoTXYSMFQKcmlFhLFBBVnYAZRTxYGEKxRgFgp0GYaa8maATVUhm3I7d-ss9buP6P70HHZnz5gP6UBU20</recordid><startdate>2005</startdate><enddate>2005</enddate><creator>Boiadjiev, G.</creator><creator>Vassileva, D.</creator><creator>Kawasaki, H.</creator><creator>Mouri, T.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>2005</creationdate><title>Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors</title><author>Boiadjiev, G. ; Vassileva, D. ; Kawasaki, H. ; Mouri, T.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-4b07291eb16873199848a7817f02430bc75fe0c07369011290abfd5836c1a02b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2005</creationdate><topic>Ellipsoids</topic><topic>Instruments</topic><topic>Laboratories</topic><topic>Manifolds</topic><topic>Mechatronics</topic><topic>Orbital robotics</topic><topic>Redundancy</topic><topic>Robot control</topic><topic>Robot sensing systems</topic><topic>Shape</topic><toplevel>online_resources</toplevel><creatorcontrib>Boiadjiev, G.</creatorcontrib><creatorcontrib>Vassileva, D.</creatorcontrib><creatorcontrib>Kawasaki, H.</creatorcontrib><creatorcontrib>Mouri, T.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Boiadjiev, G.</au><au>Vassileva, D.</au><au>Kawasaki, H.</au><au>Mouri, T.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors</atitle><btitle>2005 IEEE International Conference on Industrial Technology</btitle><stitle>ICIT</stitle><date>2005</date><risdate>2005</risdate><spage>1164</spage><epage>1169</epage><pages>1164-1169</pages><isbn>0780394844</isbn><isbn>9780780394841</isbn><abstract>This work is dedicated to accuracy control of redundant robot-manipulators using sensibility approach. A manifold structure is applied to realize bases transition at local robot level. This assures optimal choice of drive subsets or combination of drives realizing motion with desired sensibility. The formulated condition satisfaction in the robot configurational space leads to precise trajectory tracing in the working zone (coincidence of the sensibility direction with the trajectory tangent vector). An illustrative example is presented and the explicit results are shown. The group theory application completes the considerations and it is helpful for better mechanical interpretation</abstract><pub>IEEE</pub><doi>10.1109/ICIT.2005.1600811</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISBN: 0780394844 |
| ispartof | 2005 IEEE International Conference on Industrial Technology, 2005, p.1164-1169 |
| issn | |
| language | eng |
| recordid | cdi_ieee_primary_1600811 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Ellipsoids Instruments Laboratories Manifolds Mechatronics Orbital robotics Redundancy Robot control Robot sensing systems Shape |
| title | Sensibility control of redundant robots: sensibility directions along trajectory tangent vectors |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-06T21%3A58%3A54IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Sensibility%20control%20of%20redundant%20robots:%20sensibility%20directions%20along%20trajectory%20tangent%20vectors&rft.btitle=2005%20IEEE%20International%20Conference%20on%20Industrial%20Technology&rft.au=Boiadjiev,%20G.&rft.date=2005&rft.spage=1164&rft.epage=1169&rft.pages=1164-1169&rft.isbn=0780394844&rft.isbn_list=9780780394841&rft_id=info:doi/10.1109/ICIT.2005.1600811&rft_dat=%3Cieee_6IE%3E1600811%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=1600811&rfr_iscdi=true |