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Dynamic control of kinematically redundant manipulators

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Reliable redundancy resolution strategies for kinematically redundant parallel manipulators

Mechanism and Machine Theory, 2022
Abstract The reconfiguration capability given by the use of kinematic redundancy can be an alternative for enlarging the useable workspace of parallel manipulators. However, the inverse kinematic model of a kinematically redundant parallel manipulator presents an infinite number of solutions requiring redundancy resolution strategies.
Hiparco Lins Vieira, João Vitor de Carvalho Fontes, Maíra Martins da Silva   +2 more
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Redundancy indices of kinematically redundant manipulators

2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002
In this work, novel measures, denoted redundancy indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy indices are easy to compute and can be applied to all types of kinematically redundant manipulators.
null Fan-Tien Cheng, null Chung-Wen Chen, null Min-Hsiung Hung   +2 more
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Machining With Redundant Kinematics

Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 2011
The demand for high productivity and quality combined with the need for decreasing energy consumption will substantially affect machine tool design in the future. This development is driven by a modification of process chains which is focused on resource conservation.
Reimund Neugebauer, Welf-Guntram Drossel, Steffen Ihlenfeldt, Hendrik Rentzsch   +3 more
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Controlling chaotic robots with kinematical redundancy

Chaos: An Interdisciplinary Journal of Nonlinear Science, 2006
Robots with kinematical redundancy under the pseudoinverse control exhibit undesirable chaotic joint motion, which leads to erratic behaviors. In this study, we used the delayed feedback method to control chaotic motions of a planar 3R rigid and a planar 3R flexible redundant robot under the pseudoinverse control when the end-effector traces a closed ...
Li, Li, Liu, Zhaohui, Zhang, Dengcai, Zhang, H.   +3 more
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Kinematic redundancy: Kinetics for use with redundant manipulators

Open Access Government, 2023
Kinematic redundancy: Kinetics for use with redundant manipulators Kousuke Okabe, an Associate Professor in the Department of Electrical and Computer Engineering, explores kinematic redundancy and the redundant manipulator using the Grassmann algebra.
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A novel redundancy index for kinematically redundant manipulators

Journal of the Chinese Institute of Engineers, 2007
Abstract This work proposes a novel quantitative measure of redundancy, called a Refined Redundancy Index (RRI), for kinematically redundant manipulators. The constrained inverse kinematics problem is formulated at the joint‐rate level. RRI is then defined as the normalized magnitude of the solution spaces, based on the fact that a larger solution ...
Min‐Hsiung Hung, Jen‐Kuei Ting
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Full forward kinematics of redundant kinematic hybrid manipulator

Applied Mathematical Modelling, 2018
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Yi Lu, Zhuohong Dai, Peng Wang
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Fault-tolerant kinematically redundant robots

Proceedings of the Thirty-Fourth Southeastern Symposium on System Theory (Cat. No.02EX540), 2003
Fault tolerance is a critical issue for teleoperated or autonomous robotic systems that are operating in hazardous and/or remote environments where joint failures are likely. A single joint failure can render an otherwise dexterous manipulator useless. In this article, we examine two measures of fault tolerance.
C. Caldwell, R.G. Roberts
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Kinematic optimization of redundant and hyper-redundant robot trajectories

1998 IEEE International Conference on Electronics, Circuits and Systems. Surfing the Waves of Science and Technology (Cat. No.98EX196), 2002
Redundant manipulators have some advantages when compared with classical arms because they allow a trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of manipulator, the proposed kinematic control algorithm adopts generalized inverse matrices. In this line of thought, the
Duarte, Fernando B. M., Tenreiro Machado, J. A.   +1 more
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