Dynamic analysis of parallel-link manipulators under the singularity-consistent formulation

科研費報告書収録論文(課題番号:08555062・基盤研究(A)(2)・H8～H10/研究代表者:内山, 勝/6自由度超高速パラレルロボットの試作研究

Singularity-consistent path planning and control of parallel robot motion through instantaneous-self-motion type singularities

科研費報告書収録論文(課題番号:08555062・基盤研究(A)(2)・H8～H10/研究代表者:内山, 勝/6自由度超高速パラレルロボットの試作研究

Dynamic Analysis of Parallel Manipulators under the Singularity-Consistent Parameterization

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A singularity-consistent parametrization based direct kinematics algorithm for a class of parallel manipulators

科研費報告書収録論文(課題番号:08555062・基盤研究(A)(2)・H8～H10/研究代表者:内山, 勝/6自由度超高速パラレルロボットの試作研究

Reaction null-space based control of flexible structure mounted manipulator systems

Proceedings of the 35th FM15 330 Conference on Decision and Control Kobe, Japan December 199

Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system

Proceedings of the 1997 IEEE Intemational Conference on Robotics and Automation Albuquerque, New Mexico - April 199

FRIEND: an Extra-Vehicular Activity Retriever Telerobotic Project

The initial phase of the telerobot project FRIEND (Flying Robot with Intelligently Ended Nursing Dexterity) being developed at Politecnico di Milano, Dipartimento di Meccanica, is described. It has been designed for space activities, such as rescue and recovery of astronauts engaged in EVA in the area around the space station. The problem of grappling free-floating objects by the dual-arm telerobot is discussed. We examine the feasibility of arm operation only, without involving thruster activation. This strategy is believed to increase the safety of the operation and decrease totally thruster fuel consumption. A set of elemental moves (E-moves) is suggested which account for dynamic intercoupling of arm-link and main body rotation, as well as for kinematic and nonholonomic redundancy of the system. Each arm-motion subtask of the scenario is performed by a series of E-moves. Some subtasks can be executed by a predefined sequence of E-moves in autonomous mode, whereas others require on-line teleoperated motion control