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u@@tF@Associate Prof. George Boiadjiev@@(Institute of Mechanics, Bulgarian Academy of Sciences)

uฺ่F@Sensibility Theory Application for Redundant Robots Control.

uเeF@The purpose of the presentation is to show and discuss a new control method applying the sensibility analysis approach for improving the robot accuracy. Its main idea is to keep the system sensible direction as tangent vector along some given trajectory. 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 satisfaction of formulated condition in the robot configurational space leads to precise trajectory tracing in the working zone by coincidence of the sensibility direction with the trajectory tangent vector. When the system must follow some desired trajectory, its tangent vector is determined. Assuring coincidence of that tangent vector with sensibility direction, it can be found the explicit functions of time for the generalized coordinates. Substituting these functions in the system dynamic equation, the term in its right side, describing the driving forces and torques can be obtained, which modifies the control signal and assures the accuracy improvement of the system motion. The group theory application completes the considerations and it is helpful for better mechanical nterpretation. The proposed method can be applied for the tasks requiring high accuracy. Its main advantage concerns not only the accuracy improvement but its application for redundant systems. Another priority of redundant systems are pointed out ? the possibility for sensibility directions control. Summarising, the main conclusions and results consist in the possibilities of accuracy improvement due to redundancy at local robot states as well as formulation of conditions to realise that.

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u@@tF@Dr. Daniela Vassileva@@iCentral Laboratory of Mechatronics and Instrumentation, Bulgarian Academy of Sciencesj

uฺ่F@Main Ideas of Sensibility Theory Approach for Redundant Robots Investigation. Sensibility Coefficients and Directions in the Robot Working Zone.

uเeF@Mechatronic systems are complex ones consisting of elements with different physical nature. Robot-manipulators are such systems having large application in practice. That is the reason why many of their characteristics are investigated and optimized. Such a quality characteristic is their sensibility that could be considered as generalization of accuracy. The accuracy depends on the system as a whole, but the sensibility depends on the system state (configuration). Mathematically the last is described by homomorphisms mapping the configuration space into a sensibility ellipsoid in the system-working zone. The kinematic sensibility quantity parameters are the sensibility coefficients and directions in the robot-working zone. Taking into account the concrete practical task, expected to be accomplished by the robot, it is important to choose these configurations which are appropriate for the successful execution of the robot operation. They are these configurations for which the sensibility coefficients in the working zone take minimal values (or the sensibility ellipsoid dimensions decrease). That is why it is important to study the variation of the kinematic sensibility coefficients in dependence of the configuration and geometrical parameters. That way the appropriate classes of configurations or trajectories could be chosen for the successful execution of the robot-manipulator task. No doubt, redundant robots are more complex than ones which are constructed for specific operations with minimal degrees of freedom for that. Such a feature allows them to execute some given task using their whole abilities or using only some part of their drives. Having redundancy, a robot can satisfy additional criteria. The purpose of the project is to present new control method applying the sensibility analysis approach for improving the robot accuracy. Its main idea is to keep the system sensible directions as tangent vectors along some given trajectory.

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