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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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Maximising the wrench capability of mobile manipulators with experiments on a UVMS [PDF]
Frontiers in Robotics and AIThis paper presents methods for finding optimal configurations and actuator forces/torques to maximise contact wrenches in a desired direction for underwater vehicle manipulator systems (UVMS).
Wilhelm J. Marais +2 more
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Design and Validation of a Brain-Controlled Hip Exoskeleton for Assisted Gait Rehabilitation Training [PDF]
MicromachinesThis study presents an integrated micro-system solution to address the challenges of gait instability in patients with impaired hip motor function.
Chengjun Wang +4 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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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
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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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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Adaptive control of kinematically redundant robots
[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 2005 It is shown through careful problem formulation that the adaptive control of redundant robots can be addressed as a reference velocity tracking problem in the joint space. A control law which ensures the bounded estimation of the unknown dynamic parameters of the robot and the convergence to zero of the velocity tracking error is derived.
Luo,, Shengwu +2 more
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