Results 221 to 230 of about 24,745 (249)

Avoiding obstacles and resolving kinematic redundancy

Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986
While obstacles in a robot workspace can effectively reduce the number of degrees of freedom, there need not be a corresponding loss of functionality for kinematically redundant mechanisms. In this paper, disk-like obstacles for a planar three-bar mechanism are classified.
openaire   +1 more source

Kinematic programming alternatives for redundant manipulators

Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005
In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving the inverse kinemetics problem. Some of these techniques are surveyed with a discussion of strengths and weaknesses of each. A new approach, called the extended Jacobian technique, is also presented. It is argued that because this technique
openaire   +1 more source

Inverse kinematics on the kinematically redundant hybrid parallel mechanism

Vestnik Mashinostroeniya
The inverse problem of positions of a six-moving hybrid parallel mechanism with a 3-(3-PRR)PS structure with kinematic redundancy is considered. Each kinematic chain of the mechanism includes a flat 3-PRR mechanism of a parallel structure. An analytical solution of the problem under consideration is obtained, and an example of calculation is given ...
openaire   +1 more source

Trajectory optimization for kinematically redundant arms

Journal of Robotic Systems, 1991
AbstractA review of local optimization methods for resolving joint configurations in underconstrained manipulation tasks is conducted. A new approach is developed for observing joint limits and avoiding obstacles during the trajectory planning. The methodology is used in a four‐link arm example to avoid a workspace singularity and is compared with ...
openaire   +1 more source

Kinematically Redundant Manipulators

2008
CHIAVERINI, Stefano, ORIOLO G, WALKER I. D.   +2 more
openaire   +3 more sources

Collision-free and smooth joint motion planning for six-axis industrial robots by redundancy optimization

Robotics and Computer-Integrated Manufacturing, 2021
Kai Tang
exaly  

Exploiting Kinematic Redundancy for Robotic Grasping of Multiple Objects

IEEE Transactions on Robotics, 2023
Kunpeng Yao, Aude G Billard
exaly  

Generalized Kinematic Control of Redundant Manipulators

2007
Recently, an interest has increased in applying redundant manipulators in useful practical tasks which are specified in terms of a time parameterized geometric path (a trajectory) to be tracked by the end-effector. Redundant degrees of freedom make it possible to achieve some useful objectives such as collision avoidance in the task space with ...
openaire   +1 more source

Kinematic redundancy.

Progress in brain research, 2000
Z, Hasan, J S, Thomas
openaire   +1 more source

Singularity analysis and avoidance of a planar parallel mechanism with kinematic redundancy under a fixed orientation

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2021
Haibo Qu, Lanqing Hu
exaly