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LLM-Assisted Interpretation of Kinematic Gait Data in Children with Cerebral Palsy: A Pilot Study on Gait Deviation Detection and Surgical Group Recommendations. [PDF]
Bioengineering (Basel)Davoudi M +4 more
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On the use of redundancy in robot kinematic control
, 1988 Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility ...
L. Sciavicco +2 more
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The Analysis of Kinematic Redundancy in Pointing
, 2001 The Analysis of Kinematic Redundancy in ...
CESARI, Paola, P. Cusumano J. P.
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On the Inverse Kinematics of Redundant Manipulators
The International Journal of Robotics Research, 1988Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced.
Daniel R. Baker, Charles W. Wampler II
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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), 2002In 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 +2 more
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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), 2002Redundant 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. +1 more
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Kinematic redundancy: Kinetics for use with redundant manipulators
Open Access Government, 2023Kinematic 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 quantitative measure of redundancy for kinematically redundant manipulators
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002In 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.
Min-Hsiung Hung +2 more
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Machining With Redundant Kinematics
Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 2011The 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 +3 more
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