Results 201 to 210 of about 24,745 (249)

Forward Kinematic Analysis of Kinematically Redundant Hybrid Parallel Robots

Journal of Mechanisms and Robotics, 2020
Abstract This paper focuses on the forward kinematic analysis of (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robots. Because all of the singularities are avoidable, the robot can cover a very large orientational workspace.
Kefei Wen, Clément M. Gosselin
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Chapter 33 Kinematic Redundancy

1999
Publisher Summary The degrees of freedom (DOFs) for any unconstrained, rigid object in 3-dimensional space are six, three of which are translational and three rotational. When considering several, for example, N-linked segments of the body, however, the DOFs are less than 6N, because the segments are constrained translationally by being joined to ...
Z. Hasan, J.S. Thomas
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Robustness issues in kinematically redundant manipulator control

[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1995
Kinematic redundancy of robotic manipulators has been known to be useful in accomplishing additional performance on top of the main task of tracking desired end effector trajectories. Robustness has been a major concern in manipulator control where exact physical properties of manipulators are unobtainable.
L.A. Nguyen, I.D. Walker, R.J.P. DeFigueiredo   +2 more
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Resolution of kinematic redundancy using optimization techniques

IEEE Transactions on Robotics and Automation, 1988
Path planning techniques for kinematically redundant manipulators are developed which involve the optimization of integral cost criteria. For a variety of such criteria, the necessary condition consists of n+l first-order differential equations, where n is the number of manipulator degrees of freedom and l is the degree of the redundancy.
D.P. Martin, J. Baillieul, J. Hollerbach
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Introducing kinematical redundancy into parallel mechanism with force redundancy

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2008
We aim to design a mechanism with high acceleration and high accuracy. Force redundant mechanism is designed to realize these requirements. However, big excessive internal forces will arise if all the joints adopt position control scheme for upper controller and velocity control scheme for servo motor to achieve a high accuracy.
Kiyoshi Nagai, null Zhengyong Liu
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Energy-Efficient Kinematically Redundant Actuation

2021
Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators.
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Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms

Journal of Mechanical Design, 2004
This paper addresses the singularity analysis and the design of three new types of kinematically redundant parallel mechanisms, i.e., the four-degree-of-freedom planar and spherical parallel mechanisms and the seven-degree-of-freedom spatial Stewart platform.
Jing Wang, Cle´ment M. Gosselin
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Kinematics of Hyper-Redundant Manipulators

1991
A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves.
Chirikjian, Gregory S., Burdick, Joel W.
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An inverse kinematic solution for kinematically redundant robot manipulators

Journal of Robotic Systems, 1984
AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence,
Se‐Young Oh, David Orin, Michael Bach
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Design of kinematically redundant mechanisms

1985 24th IEEE Conference on Decision and Control, 1985
It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed.
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