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On the use of redundancy in robot kinematic control
1988Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility ...
L. Sciavicco +2 more
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Kinematic control of redundant robot manipulators: A tutorial
Journal of Intelligent and Robotic Systems, 1990In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization ...
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Control based on the kinematic model
1983It has been shown that the geometrical model cannot always be used, for example when a robot is non-resolvable, and gives an approximation that is not encountered in practice. This sometimes results in control problems (speed control, accuracy and overshooting etc).
Philippe Coiffet, Michel Chirouze
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Kinematic Control of a Mobile Manipulator
2016Proper motion planning algorithms are necessary for intelligent robotic systems in order to execute their specific tasks. To solve this problem, current research work introduces the inverse kinematic models for mobile manipulators. In general, a systematic closed-form solution is not available in the case of inverse kinematic models.
B. B. V. L. Deepak +2 more
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Kinematic control of rigid-motions in space–time
Systems & Control LetterszbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Modeling and analysis of pure kinematic error in harmonic drive
Mechanism and Machine Theory, 2021Hang Jia, Guo Xiang, Ke Xiao
exaly
Modular approach to kinematic reliability analysis of industrial robots
Reliability Engineering and System Safety, 2023Wenyu Yang
exaly