Results 261 to 270 of about 18,674 (285)

Efficient Resolution of Hyper-Redundancy Using Splines

2014
Hyper-redundant systems such as snake robots, flexible manipulators, ropes and strings discretized as rigid links connected by joints can be reasonably assumed to length preserving during their motion. The resolution of the redundancy in such systems have been addressed by several researchers using least squares and other techniques in which the ...
Midhun Sreekumar Menon, B. Gurumoorthy, Ashitava Ghosal   +2 more
openaire   +1 more source

Generalized software components for reconfiguring hyper-redundant manipulators

IEEE/ASME Transactions on Mechatronics, 2002
An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making.
M.W. Pryor, R.C. Taylor, C. Kapoor, D. Tesar   +3 more
openaire   +1 more source

Hyper-redundant manipulator dynamics: a continuum approximation

Advanced Robotics, 1994
Hyper-redundant, or 'snake-like', manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees ...
openaire   +1 more source

A Geometric Approach to Inverse Kinematics of Hyper-Redundant Manipulators for tokamaks maintenance

Mechanism and Machine Theory, 2022
Clemente Lauretti, Stanislao Grazioso, Giuseppe Di Gironimo   +2 more
exaly  

End-effector pose and arm-shape synchronous planning methods of a hyper-redundant manipulator for spacecraft repairing

Mechanism and Machine Theory, 2021
Jianqing Peng, Wenfu Xu, Tianliang Liu
exaly  

Dynamic model for hyper-redundant robots

2014 18th International Conference on System Theory, Control and Computing (ICSTCC), 2014
Manta Liviu Florin, Dumitru Sorin, Cojocaru Dorian   +2 more
openaire   +1 more source

MDA + RRT: A general approach for resolving the problem of angle constraint for hyper-redundant manipulator

Expert Systems With Applications, 2022
Longfei Jia
exaly  

On the Dynamical Control of Hyper Redundant Manipulators

2004
The control problem of the spatial tentacle manipulator is presented. The difficulties determined by the complexity of the nonlinear integral — differential equations are avoided by using a very basic energy relationship of this system. Energy-based control laws are introduced by using only the relations that determine the energy stored in the system ...
openaire   +1 more source

A Segmented Geometry Method for Kinematics and Configuration Planning of Spatial Hyper-Redundant Manipulators

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020
Zonggao Mu, Han Yuan, Wenfu Xu
exaly  

Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges

IEEE Transactions on Aerospace and Electronic Systems, 2022
Zonggao Mu, Lei Yan, Zixuan Li
exaly