Results 21 to 30 of about 321 (208)

An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators

International Journal of Advanced Robotic Systems, 2018
In this article, we present an improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators. Specifically, we not only focused on the position for the manipulator end-effectors but also considered ...
Wenrui Wang, Mingchao Zhu, Xiaoming Wang, Shuai He, Junpei He, Zhenbang Xu   +5 more
doaj   +1 more source

Design of a Novel Long-Reach Cable-Driven Hyper-Redundant Snake-like Manipulator for Inspection and Maintenance

Applied Sciences, 2022
Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use of robotic systems to accomplish such tasks has deep implications in terms of safety for human workers and can ...
Carlo Canali, Alessandro Pistone, Daniele Ludovico, Paolo Guardiani, Roberto Gagliardi, Lorenzo De Mari Casareto Dal Verme, Giuseppe Sofia, Darwin G. Caldwell   +7 more
doaj   +1 more source

Simultaneous Planning Method Considering Both Overall Configuration and End Pose for Hyper-Redundant Manipulators

IEEE Access, 2019
Featured by extreme flexibility, hyper-redundant manipulators are gradually developed and applied to perform detection and maintenance tasks in confined on-orbit environments.
Zonggao Mu, Han Yuan, Wenfu Xu, Zhonghua Hu, Tianliang Liu, Bin Liang   +5 more
doaj   +1 more source

Motion Control of Hyper Redundant Robots by Learning Control Based on Linear Combination of Error History and Initial Configuration Optimization with Backward Learning

Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2008
This paper describes the motion control of hyper redundant robots using a learning control scheme based on linear combination of error history. The learning control scheme is formulated with three elements: general solution of inverse kinematics with ...
Daisuke MATSUURA, Nobuyuki IWATSUKI
doaj   +1 more source

Maxwell Model-Based Null Space Compliance Control in the Task-Priority Framework for Redundant Manipulators

IEEE Access, 2020
Improving robot performance while simultaneously ensuring compliance and human safety has been appealing for a long time and remains a challenge. To this end, we propose a new approach for kinematic control of redundant manipulators to deal with multiple
Le Fu, Jie Zhao
doaj   +1 more source

A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint

Applied Sciences, 2021
This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with n identical universal joints (UJs).
Ya’nan Lou, Pengkun Quan, Haoyu Lin, Dongbo Wei, Shichun Di   +4 more
doaj   +1 more source

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Machines, 2023
Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery.
Kapil Sawant, Antonios E. Gkikakis, Leonardo S. Mattos   +2 more
doaj   +1 more source

Variable Dimensional Scaling Method: A Novel Method for Path Planning and Inverse Kinematics

Machines, 2022
Traditional methods for solving the inverse kinematics of a hyper-redundant manipulator (HRM) can only plan the path of the end-effector with a complicated solving process, where obstacle avoidance is also not considered.
Longfei Jia, Zhiyuan Yu, Haiping Zhou, Zhe Pan, Yangsheng Ou, Yaxing Guo, Yuping Huang   +6 more
doaj   +1 more source

Robotics in Ionizing Radiation Environments: Vulnerabilities, Hardening, and Future Directions

Advanced Robotics Research, EarlyView.
Radiation exposure causes cumulative degradation in robotic sensors, actuators, and electronic logic, often leading to undetected failures. This study maps component vulnerabilities, evaluates hardening and shielding strategies, and identifies testing gaps that must be addressed to enable next‐generation radiation‐tolerant robotic systems.
Francis A. K. Djirackor, Josephine T. Djirackor, Amanuel Abrdo Tereda, Sun Yi, Younho Seong   +4 more
wiley   +1 more source

Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

Applied Sciences, 2020
Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc.
Long Qin, Fanghao Huang, Zheng Chen, Wei Song, Shiqiang Zhu   +4 more
doaj   +1 more source