Daniel Fontan Dissertation

This dissertation presents a method to solve inverse kinematic problems of redundants robots working in a constrained workspace. The method is based on the method of kinematic constraint, on the Davies' method, on the screw theory and on the use of Assur virtual chains.

The Assur virtual chains are conveniently added to the kinematic chain of the manipulator to obtain information about the movement between the links or about the total movement of a link, for example, the end-effector. Furthermore, the Assur virtual chains can be used to monitoring or to impose movements on the links of the kinematic introducing kinematic constraints. The assemble of the original kinematic chain and the Assur virtual chain are called modified kinematic chain.

Applying the Davies' method to the modified kinematic chain it is possible to establish the kinematic constraint equation. This kinematic constrain equation relate the joints velocities of the modified kinematic chain. In addition, it is possible to calculate some joints velocities from the others.

Using the method proposed in this dissertation we generate a unified methodology to solve differential kinematics problem of serial and parallel robots. The methodology create new ways to solve problems like singularities and collision avoidance.

To complement the methodology, an avoidance collision method without generate kinematic discontinuities during the transition is developed. Moreover, this solution is necessary to apply the methodology in real experiments.

Category:

Entertainment

Tags:

• Inverse
• Kinematic
• Avoidance
• Collision

[carvalhobittencourt]

olá, o robo mantem informacoes dos obstaculos no controlador ou ele os detecta atraves de sensores externos?