Results 211 to 220 of about 24,745 (249)

A novel quantitative measure of redundancy for kinematically redundant manipulators

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002
In this paper, a novel quantitative measure of redundancy, called refined redundancy index (RRI), which is measured in the joint-rate level, is proposed. Based on the concept that a larger solution space of the inverse kinematics problem represents larger redundancy, the RRI is defined as the normalized magnitude of the solution spaces.
null Min-Hsiung Hung, null Fan-Tien Cheng, null Jen-Kuei Ting   +2 more
openaire   +1 more source

Compliant motion control and redundancy resolution for kinematically redundant manipulators

Proceedings of 1995 American Control Conference - ACC'95, 2005
An augmented hybrid impedance control (AHIC) scheme is proposed for kinematically redundant manipulators. The hybrid impedance control (HIC) scheme, which has been used in the past for compliant motion control of non-redundant manipulators, is extended to the redundant case.
E. Shadpey, R.V. Patel, C. Balafoutis, C. Tessier   +3 more
openaire   +1 more source

Redundant actuation for improving kinematic manipulability

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003
Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be ...
J.F. O'Brien, J.T. Wen
openaire   +1 more source

Failure recoverability by exploiting kinematic redundancy

Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA, 2002
Various physical limitations which exist in the manipulator inverse kinematic system, for example joint travel and velocity limits, induce inevitable motion errors. This paper deals with the problem on how to reconstruct such an inverse kinematic solution using redundancy, in order not to entail any task motion error.
null Jonghoon Park, null Wan-Kyun Chung, null Yongil Youm   +2 more
openaire   +1 more source

Coordinating Kinematically Redundant Degrees of Freedom

1990 American Control Conference, 1990
There are a variety of manifestations of kinematic redundancy in different classes of robotic mechanisms such as manipulator arms, multifingered hands, mobile robots, etc., and while common issues arise in motion planning for such devices, the literature on resolving kinematic redundancy has principally been focused on manipulator arms.
D.P. Martin, J. Baillieul
openaire   +1 more source

Inverse kinematic algorithms for redundant systems

Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003
An iterative method of computing the solution of the inverse kinematic problem is developed for redundant systems using the transpose of the Jacobian matrix instead of the pseudoinverse. The solutions may be optimized on a criterion function or on physical constraints, such as obstacle avoidance.
H. Das, J.-E. Slotine, T.B. Sheridan
openaire   +1 more source

Zero dynamics in kinematically redundant robots

IEEE International Conference on Systems Engineering, 2002
The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots.
M. Varghese, A. Fuchs, R. Mukundan
openaire   +1 more source

Resolving kinematic redundancy for robotic manipulators

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society, 2002
The development of steering laws for robotic manipulators is considered. The generalized inverse is discussed in terms of its benefits and shortcomings. A design method which yields cyclic behavior is examined, and specific equations are developed for a planar three-link robotic manipulator. This work has reached the point where various expressions for
openaire   +1 more source

Inverse kinematic functions for redundant manipulators

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 2005
A general approach to the kinematic control of redundant manipulators using inverse kinematic functions is presented. The principal objective is to find an inverse kinematic function and a workspace such that the ratio of joint speed to workspace speed is bounded. The definition of such feasible workspaces leads naturally to optimization problems aimed
openaire   +1 more source

Kinematically redundant robots with flexible components

IEEE Control Systems, 1993
Open kinematic chain mechanisms consisting of a sequence of rigid or elastic links joined together by single-degree-of-freedom joints that may, depending on the model in question, undergo elastic deformation are considered. It is assumed that there is a base of any kinematic chain under investigation as well as tip to which a tool or end effector is ...
openaire   +1 more source