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General Solutions to Functional and Kinematic Redundancy [PDF]
Modeling, Identification and Control, 2008 A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how ...
Pål J. From, Jan T. Gravdahl
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Machines, 2023 Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies.
Adrian Peidro, Edward J. Haug
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Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy [PDF]
Chinese Journal of Mechanical Engineering, 2022 The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of ...
Chaoyu Shen +3 more
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Robotic Manipulator’s Expressive Movements Control Using Kinematic Redundancy
Machines, 2022 In human–robot interaction (HRI), sharing emotions between the human and robot is one of the most important elements. However, market trends suggest that being able to perform productive tasks is more important than being able to express emotions in ...
Shohei Hagane, Gentiane Venture
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International Journal of Advanced Robotic Systems, 2019 This article presents a novel spatial parallel mechanism with kinematic redundancy. The design strategy and evolution of the proposed mechanism is introduced, and kinematic model of the mechanism is established.
Sheng Guo, Fuqun Zhao, Haibo Qu
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A Hybrid Inverse Kinematics Framework for Biomimetic Redundancy Resolution in 7-DoF Humanoid Arms [PDF]
BiomimeticsResolving the kinematic redundancy of 7-DoF humanoid arms to generate natural, human-like motions remains a fundamental challenge in biomimetic robotics.
Yapeng Shi +5 more
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Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator
Sensors, 2021 A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the ...
Xiaohua Shi +4 more
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Study on Redundancy in Robot Kinematic Parameter Identification
IEEE Access, 2022 The robot kinematic error model may include redundant parameters, which require removal prior to the identification of kinematic parameters to ensure the accuracy and stability of such.
Yue Zhang, Jiawen Guo, Xueyan Li
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Robotics, 2021 Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators.
Maurizio Ruggiu, Andreas Müller
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The kinematics of hyper-redundant robot locomotion [PDF]
IEEE Transactions on Robotics and Automation, 1995 This paper considers the kinematics of hyper-redundant (or "serpentine") robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of "gaits". The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry.
Chirikjian, Gregory S., Burdick, Joel W.
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