Reaction Null Space of a multibody system with applications in robotics

This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided

Stability of control system in handling of a flexible object by rigid arm robots

科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究

Exchange Reactions between Alkanethiolates and Alkaneselenols on Au{111}

When alkanethiolate self-assembled monolayers on Au{111} are exchanged with alkaneselenols from solution, replacement of thiolates by selenols is rapid and complete, and is well described by perimeter-dependent island growth kinetics. The monolayer structures change as selenolate coverage increases, from being epitaxial and consistent with the initial thiolate structure to being characteristic of selenolate monolayer structures. At room temperature and at positive sample bias in scanning tunneling microscopy, the selenolate-gold attachment is labile, and molecules exchange positions with neighboring thiolates. The scanning tunneling microscope probe can be used to induce these place-exchange reactions

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The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of work space can be mapped either as a critical or a noncritical point of the autonomous system, depending on the direction of approach to the singular point. Making use of the noncritical mapping, a closed-loop kinematic controller with asymptotic stability and velocity limits along degenerate singular or near-singular paths is designed. The authors introduce a specific type of motion along the reference path, the so-called natural motion. This type of motion is obtained in a straightforward manner from the autonomous dynamical system and always satisfies the motion constraint at a singular point. In the vicinity of the singular point, natural motion slows down the end-effector speed and keeps the joint velocity bounded. Thus, no special trajectory replannin