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=
z
y
x
cont
F
F
F
F (2)
The stiffness
=
3 32 31
23 22 21
13 12 11
k k k
k k k
k k k
K (3)
The damping -
=
33 32 31
23 22 21
13 12 11
b b b
b b b
b b b
B (4)
The inertia -
=
33 32 31
23 22 21
13 12 11
I I I
I I I
I I I
M (5)
Parameters K, B and M are termed as impedance
parameters.
The position of end effector at the time t-
=
z
y
x
X
(6)
The velocity of end effector at the time t -
=
.
.
.
z
y
x
V
(7)
The position of end effector at the time t=t
0
----
0
0
0
0
0
=
=
t
z
y
x
X (8)
DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
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The velocity of end effector at the time t=t
0
,
0
.
.
.
0
=
=
t
z
y
x
V (9)
It is important to produce manipulators possessing
naturally low impedance in order to achieve natural
safety in the mutual interaction robot-
surrounding. But, most of the up to date robot
manipulators designed so far possess high
effective impedance. [3]. The manipulation system
impedance must be specified to certain suitable
levels in order to increase the safety level. This can
be achieved by means of specifying separately the
components of the mechanical impedance: (i)
inertia, (ii) damping and (iii) stiffness.
If the end effector effective inertia is reduced then
the shock impulse force is also reduced because it is
dependent mainly on the inertia and on the
velocity variation. The effective inertia can be
actively modulated by means of feed backs and then
it is dependent on the characteristics of the close
loop control system. A series of restrictions exist
here such as driving forces and torques range,
sensor delays, stability problems and others.
Another inertia modulation approach is the passive
approach that requires kinematics redundancy in the
manipulation system. The redundant number of
degrees of mobility allows manipulator
configuration variation at the same positioning of
the end effector [4]. The configuration variation
yields new inertia M
q
in the system which is given
by
1
= J M J M
q
T
(10)
Where J is the Jacobean of the system.
For the configuration of shown in figure.1, the
Inertia and Jacobian can be calculated respectively
as:
=
3 32
23 22
11
0
0
0 0
q q
q q
q
q
I I
I I
I
M (11)
) ( cos 25 . 0 ) cos( cos cos ) 25 . 0 (
3 2
2 2
3 3 3 2 2 3 2 3 2
2 2
2 3 2 11
u u u u u u + + + + + = l m l l m l m m I
q
] 25 . 0 cos ) 25 . 0 [(
2
3 3 3 3 2 3
2
2 3 2 22
l m l l m l m m I
q
+ + + = u
3 3 2 3
2
3 3 23
cos 5 . 0 25 . 0 [( u l l m l m I
q
+ =
3 3 2 3
2
3 3 32
cos 5 . 0 25 . 0 [( u l l m l m I
q
+ =
2
3 3 33
25 . 0 [( l m I
q
=
=
33 32 31
23 22 21
13 12 11
J J J
J J J
J J J
J (12)
Where
)] cos( cos [ sin
3 2 3 2 2 1 11
u u u u + + = l l J
)] sin( sin [ cos
3 2 3 2 2 1 12
u u u u + + = l l J
)] sin( cos
3 2 1 3 13
u u u + = l J
)] cos( cos [ cos
3 2 3 2 2 1 21
u u u u + + = l l J
)] sin( sin [ sin
3 2 3 2 2 1 22
u u u u + + = l l J
)] sin( sin
3 2 1 3 23
u u u + = l J
0
31
= J
)] cos( cos
3 2 3 2 2 32
u u u + + = l l J
)] cos(
3 2 3 33
u u + = l J
T
q ] , , [
3 2 1
u u u =
Where q is joint angles of manipulator and (l
1
,l
2
,l
3
)
lengths of the arms of the manipulator.
The low inertia reduces the impulse force but after
collision in the phase of contact for the reduction of
the contact force major role act the compliance
qualities of the manipulator. Compliance is defined
for the increase of the safety level at contact in the
mechanical structure. Two basic approaches are
known active and passive for the stiffness
modulation to secure levels.
The active approach is based on the use of sensors
and position and force feed backs by means of
which a desired parametric proportion is balanced.
It guarantees a wide range of stiffness variation, but
it does not ensure high level of safety due to a low
resolution or noise of the sensors, long calculation
time and instability in the servo system.
The passive approach is realised by means of the
physical compliance of the robot limbs and/or
additional compliance mechanisms [5]. This
approach is independent of the servo systems, but
the range of the impedance parameter variation is
limited. Passive approach is more convenient.
DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
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The configuration variation, as with the inertia,
defines transformations among the stiffness
matrixes and the compliance matrix in joint and
absolute co-ordinates as follows:
1
= J K J K
q
T
(13)
T
q
J JK B = (14)
=
3
2
1
0 0
0 0
0 0
k
k
k
K
q
(15)
=
3
2
1
0 0
0 0
0 0
b
b
b
B (16)
The compliance matrix B is the inverse of the
stiffness matrix. By means of the three limbs
manipulator, it is possible to modulate a maximal
stiffness along the tangent to the trajectory of
motion.For realisation of passive compliance in the
robot joints controllable compliant mechanism is
used. In each joint except an actuator for position
control is added an additional actuator for stiffness
variation of a passive compliant element. Thus,
joint position and stiffness are controlled
independently. Such a model can be seen in [8]-
(Ogata T., T.Komiya and Sh.Sugano, 2005).
The introduction of compliance increases the level
of safety in the contact realisation, but increases the
possibilities for oscillation in the contact as well.
Damping is modulated by means of using two basic
approaches-active and passive in order to overtake
this problem. The active approach uses sensors and
a position and a force feed back, by means of which
an additional damping force of the drives is
maintained proportional to velocity and directed
against it [4](Kang S.,2001).
.
q B F
q q
= (17)
T
q ] , , [
.
3
.
2
.
1
.
u u u = (18)
T
q q q q
F F F F ] , [
3 , 2 1
= (19)
The passive approach is realised by additional
damping mechanisms [8]. The damping effect is
created by control of the electric current in the
electro-magnetic brakes proportional to the joint
angular velocity.
Thus, equation (1) presented by means of matrixes
of stiffness, damping and inertia in joint co-
ordinates is shown below:
t V J M J V V J B J X X J K J F
q
T
q
T
q
T
cont
c c + =
/ ] [ ] [
1
0
1
0
1
(20)
] [ X and ] [V is evaluated from the platform
position and velocity | | | | X T X
b
= and
b
X
.
The
initial impact of end effector with the surrounding is
depends up on the velocity of the platform. The
position and velocity transfer from platform to end
effector can be evaluated as:
| | | | X T X
b
= ; ] [
.
V J X
b
=
(21)
Where
| |
=
1
b
b
b
b
z
y
x
X and
.
.
.
.
b
b
b
b
z
y
x
X (22)
And T 4x4 is the transformation matrix relates end
effector and platform coordinates.
)] cos( cos [ cos
sin
) sin( cos
) cos( cos
3 2 3 2 2 1 14
1 13
3 2 1 12
3 2 1 11
u u u u
u
u u u
u u u
+ + =
=
+ =
+ =
l l T
T
T
T
)] cos( cos [ sin
cos
) sin( sin
) cos( sin
3 2 3 2 2 1 24
1 23
3 2 1 22
3 2 1 211
u u u u
u
u u u
u u u
+ + =
=
+ =
+ =
l l T
T
T
T
DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 308
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) sin( sin
0
) cos(
) sin(
3 2 3 2 2 1 34
33
3 2 32
3 2 31
u u u
u u
u u
+ + + =
=
+ =
+ =
l l l T
T
T
T
1
0
0
0
44
43
42
41
=
=
=
=
T
T
T
T
III. SIMULATION STUDIES
The dynamic force due to the robot- environment
interaction is evaluated while changing mechanical
characteristics inertia, damping and stiffness.
Simulations are made using Mat Lab Simulink
software.
The mobile base is treated like a cylindre with
height H= 0.6m and diameter D= 0.3m. The joints
of the manipulator are taken like cylindres with
length l
1
=0.4,and l
2
=0.4, l
3
=0.2 [m] and diameters
d=0.08m.
Studies are examinated with solid (m
1
=5.429 kg,
m
2
=5.429 kg, m
3
=1.853kg) and hollow
(m
1
=0.677kg, m
2
=0.677kg, m
3
=0.387kg) bodies.
An evaluation of dynamic interaction between
mobile robot manipulator and the surrounding is
made, evaluating contact force, when the endefector
realizises collision with the fixed solid barrier,
shown in figure1. The dynamic shock force between
the endefector and the barrier is simulated at a
horizontal motion of the mobile robot with speed
V=0.2m/s.
(i) The simulations with solid bodies
In this section, the contact forces are evaluated by
considering the links of manipulator as a solid
bodies , the stiffness of joints as k
1
=k
2
=k
3
= 500
Nm/rad , and damping of joints as b
1
=b
2
=b
1
=1
Nms/rad. Figure 2(a) and (b) shows respectively the
variation of the contact force on collision between
the end effector and the barrier when
T
q ] 0 , 90 , 0 [
0
3
0
2
0
1
= = = = u u u and
T
q ] 90 , 90 , 90 [
0
3
0
2
0
1
= = = = u u u .
When the arm configuration is changed, the
effective inertia, stiffness and resulting force are
changed too. When using configuration Fig. 2 (a)
the impulse force is reaching up up to 160 N which
is shown in Fig.2(b)., and in configuration Fig.3 (a)
case , it reaches up to 110 N(see the Fig.3(b)). The
average contact force for the manipulator
configuration shown in Fig. 2 (a) is about 116 N,
and that of configuration shown in Fig.3 (a) is about
68N.
If the manipulator is more compliant , the contact
stiffness force decreased to k
1
=k
2
=k
3
=100 Nm/rad.
With same conditions of figures 2(a) and 3(a), the
variation of contact forces are simulated as shown
in figures 4 (a) and (b). In the case low arm
stiffness, the contact forces are decreased to 25N
and 14N.
It is understood that the insertion of compliance
doesn't decrease the impulse force but contact force
reduce partially.
Fig. 2(a): Manipulator Configuration-1
Fig. 2(b):Simulation of contact force with high arm
stiffness for the configuration Shown Fig.2(a)
DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
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Fig. 3(a): Manipulator Configuration-2
Fig.3(b):Simulation of contact force with high arm stiffness
for the configuration Shown Fig.3(a)
Fig.4(a) :Simulation of contact force with low arm stiffness
for the configuration Shown Fig.2(a)
Fig. 4(b) :Simulation of contact force with low arm stiffness
for the configuration Shown Fig.3(a)
(ii) The simulations with hollow bodies:
A reduction of the inertia can be achieved by
creation of mobile robot manipulator with light
arm. In this section, the contact forces are evaluated
by considering the links of manipulator as a
hollow bodies , the stiffness of joints as k
1
=k
2
=k
3
=
100 Nm/rad , and damping of joints as b
1
=b
2
=b
1
=1
Nms/rad. The figure 5(a) and 5(b) shows
respectively the variation of the contact force with
hallow bodies with
T
q ] 0 , 90 , 0 [
0
3
0
2
0
1
= = = = u u u
and
T
q ] 90 , 90 , 90 [
0
3
0
2
0
1
= = = = u u u .It conclude
that when the arms is with low inertia the impuls
force decreases to 40 N. The low inertia allows
faster attenuation of impact oscillations.
The simulations are made with joints damping
b1=b2=b3=1 and 0 [Nms/rad]. Figures 6(a) and 6(b)
show the change of contact force: (a) with damping
b1=b2=b3=1 Nms/rad and (b) without damping
b1=b2=b3=0 Nms/rad. It is observed from these
figures that the low stiffness creates contact
oscillations, therefore it's necessary a joint damping.
The simulation studies gives an understanding that
the mechanical characteristics are the key factor for
decreasing dynamic contact forces and thus
increasing the whole safety during the interaction
mobile robot-surrounding. It can also understand
that during a collision between robot arm and the
surrounding, the impulse force is greatly influenced
by the speed of motion of base and the effective arm
inertia. By a kinematics redundancy and choosing
an appropriate configuration the effective inertia
can be reduced till lower level. During an
unexpected collision. it is impossible to guarantee
the necessary arm configuration. Therefore the low
arm inertia is recommended for impact conditions.
The simulation studies on interaction between
mobile manipulator robot and surrounding suggests
that the system has to be with light bodies links and
motors. In case of need of more powerful and
heavier motors, they can be placed on the base
using cables and other light transmissions as base
parameters not much influences the dynamic
contact force. The stiffness and damping of the
manipulation system must be increased to certain
levels in order to decrease the level of contact force.
DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 310
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Fig.5(a) :Simulation of contact force with low arm stiffness
for the configuration Shown Fig.2(a)
Fig. 5(b) :Simulation of contact force with low arm stiffness
for the configuration Shown Fig.3(a)
Fig. 6(a) :Simulation of contact force with low arm stiffness
and Zero arm damping for the configuration Shown Fig.2(a)
Fig. 6(b) :Simulation of contact force with low arm stiffness
and zero damping for the configuration Shown Fig.3(a)
IV. CONCLUSIONS
A simple model of Mobile manipulating system is
proposed to study the dynamic mutual interaction
between the mobile robot Manipulation system and
the surrounding Environment. The mathematical
relations developed using two basic approaches
known as active and passive impedance
modulations. The model proposes redundancy so
that the additional inertia come into system and
reduces the dynamic contact forces thus creates a
natural security in the interaction of robot and
environment. It is possible to use devices with
controlled passive joint compliance for achieving
requirements of performance. The introduction of
compliance decreases the level of impulse force but
during an impact or immediately change of speed,
the compliant arm is tended to oscillations. The
presence of damping in joints decreases these
oscillations.
V. ACKNOWLEDGMENT
The author thanks Dr. P. Narasimha Reddy,
Executive Director of Sreenidhi Institute of Science
and Technology (An Autonomous Institution)
Hyderabad, A.P.India-501301 for his
encouragement and suggestions in carrying out this
research work.
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DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 311
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DR.A.PURUSHOTHAM* et al. / (IJAEST) INTERNATIONAL JOURNAL OF ADVANCED ENGINEERING SCIENCES AND TECHNOLOGIES
Vol No. 7, Issue No. 2, 305 - 312
ISSN: 2230-7818 @ 2011 http://www.ijaest.iserp.org. All rights Reserved. Page 312
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