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Internal redundancy - the way to improve robot dynamics and control performances

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2000
Authors
Vukobratović, Miomir
Potkonjak, Veljko
Matijević, Vladimir
Article (Published version)
Metadata
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Abstract
The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribut...e to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.

Keywords:
internal redundancy / motion control / robots / kinematic redundancy / robotics
Source:
Journal of Intelligent and Robotic Systems: Theory and Applications, 2000, 27, 1-2, 31-66
Publisher:
  • Dordrecht : Kluwer Academic Publishers

DOI: 10.1023/A:1008141912804

ISSN: 0921-0296

WoS: 000084385100005

Scopus: 2-s2.0-0033639860
[ Google Scholar ]
9
5
Handle
https://hdl.handle.net/21.15107/rcub_dais_3862
URI
https://dais.sanu.ac.rs/123456789/3862
Collections
  • ИТН САНУ - Општа колекција / ITS SASA - General collection
Institution/Community
Институт техничких наука САНУ / Institute of Technical Sciences of SASA
TY  - JOUR
AU  - Vukobratović, Miomir
AU  - Potkonjak, Veljko
AU  - Matijević, Vladimir
PY  - 2000
UR  - https://dais.sanu.ac.rs/123456789/3862
AB  - The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.
PB  - Dordrecht : Kluwer Academic Publishers
T2  - Journal of Intelligent and Robotic Systems: Theory and Applications
T1  - Internal redundancy - the way to improve robot dynamics and control performances
SP  - 31
EP  - 66
VL  - 27
IS  - 1-2
DO  - 10.1023/A:1008141912804
UR  - https://hdl.handle.net/21.15107/rcub_dais_3862
ER  - 
@article{
author = "Vukobratović, Miomir and Potkonjak, Veljko and Matijević, Vladimir",
year = "2000",
abstract = "The research follows the concept of variable geometry. The concept was originally introduced for general mechanical system in order to improve its dynamic behaviour. Here, we apply the concept to robots. It can be shown that enhancement of robot dynamic performances is achieved. In this paper variation of geometry is considered equally as the motion in robot joints. Thus, a new set of degrees of freedom is introduced. This leads to redundancy - different internal motions are possible for the given external motion of the end-effector. However, there is an important difference from the usual notion of redundancy. Here, the additional joints do not influence the external motion and accordingly cannot improve the end-effector ability for maneuvering. For this reason the new notion is defined the internal redundancy. Although variation of geometry is treated equally with the motion in robot joints, there is still a difference in the aim of these new degrees of freedom. They should contribute to overcoming the limits of robot actuators, achieving better static compensation, etc. One might say that internal redundancy improves the robot dynamic capabilities. In this paper the mathematical formulation of kinematics and dynamics of robots with internal redundancy is carried out. A case study is presented in order to support the main idea.",
publisher = "Dordrecht : Kluwer Academic Publishers",
journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
title = "Internal redundancy - the way to improve robot dynamics and control performances",
pages = "31-66",
volume = "27",
number = "1-2",
doi = "10.1023/A:1008141912804",
url = "https://hdl.handle.net/21.15107/rcub_dais_3862"
}
Vukobratović, M., Potkonjak, V.,& Matijević, V.. (2000). Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications
Dordrecht : Kluwer Academic Publishers., 27(1-2), 31-66.
https://doi.org/10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862
Vukobratović M, Potkonjak V, Matijević V. Internal redundancy - the way to improve robot dynamics and control performances. in Journal of Intelligent and Robotic Systems: Theory and Applications. 2000;27(1-2):31-66.
doi:10.1023/A:1008141912804
https://hdl.handle.net/21.15107/rcub_dais_3862 .
Vukobratović, Miomir, Potkonjak, Veljko, Matijević, Vladimir, "Internal redundancy - the way to improve robot dynamics and control performances" in Journal of Intelligent and Robotic Systems: Theory and Applications, 27, no. 1-2 (2000):31-66,
https://doi.org/10.1023/A:1008141912804 .,
https://hdl.handle.net/21.15107/rcub_dais_3862 .

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