Results 31 to 40 of about 3,002 (288)

A snake-inspired path planning algorithm based on reinforcement learning and self-motion for hyper-redundant manipulators

International Journal of Advanced Robotic Systems, 2022
Redundant manipulators are flexible enough to adapt to complex environments, but their controller is also required to be specific for their extra degrees of freedom.
Yue Lin, Jianming Wang, Xuan Xiao, Ji Qu, Fatao Qin   +4 more
doaj   +1 more source

A Novel Path Planning Algorithm Considering the Maximum Deflection Angle of Joint

IEEE Access, 2021
The paper deals with a minimum potential energy algorithm considering the maximum deflection angle of joint (MPE-MDA algorithm) for three key factors including the maximum deflection angle of the joint, the total length of the path, and the minimum ...
Yuping Huang, Longfei Jia, Jing Chen, Jigui Zheng, Yaxing Guo, Yunfei Tao   +5 more
doaj   +1 more source

Collision Free Control of Variable Length Hyper Redundant Robot Manipulator [PDF]

, 2014
Hyper-redundant robot (HRR) manipulators are useful at navigating convoluted paths, but conventionally complicated to control. The control of a hyper-redundant manipulator is complex due to its redundancy.
M. Mozasser, Rahman, Muhamad Fadzli, Ashari, Ervina, Junaidi, Annisa, Jamali, M. Raisuddin, Khan, Mohd Syahmi, Jamaludin, M. Shahril, Osman   +6 more
core   +2 more sources

Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators

International Journal of Advanced Robotic Systems, 2017
This article presents an optimization technique to develop minimum energy consumption trajectories for redundant/hyper-redundant manipulators with predefined kinematic and dynamic constraints.
Kagan Koray Ayten, M Necip Sahinkaya, Ahmet Dumlu   +2 more
doaj   +1 more source

Path Planning Based on NURBS for Hyper-Redundant Manipulator Used in Narrow Space

Applied Sciences, 2022
Hyper-redundant manipulators with multiple degrees of freedom have special application prospects in narrow spaces, such as detection in small spaces in aerospace, rescue on-site disaster relief, etc.
Jinjun Duan, Bingcheng Wang, Kunkun Cui, Zhendong Dai   +3 more
doaj   +1 more source

A new geometrical approach to solve inverse kinematics of hyper redundant robots with variable link length [PDF]

, 2011
In this paper a new approach that generates a general algorithm for n-link hyper-redundant robot is presented. This method uses repetitively the basic inverse kinematics solution of a 2- link robot on some virtual links,where the virtual links are ...
Md. Mozasser, Rahman, Jamali, Annisa, Annisa, Jamali, Md. Mozasser Rahman, Annisa Jamali, Rahman, Md. Mozasser, Raisuddin, Khan, Raisuddin Khan, Khan, Md. Raisuddin   +8 more
core   +1 more source

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

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