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Weighted decomposition of kinematics and dynamics of kinematically redundant manipulators
Proceedings of IEEE International Conference on Robotics and Automation, 2002The kinematics and dynamics of kinematically redundant manipulators are to be decomposed in consistent way with the joint space decomposition induced by the weighted pseudo-inverse operation. The weighted kinematically decoupled joint space decomposition results to a family of decomposed kinematics and dynamics, parametrized by the symmetric positive ...
Jonghoon Park +2 more
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An inverse kinematic solution for kinematically redundant robot manipulators
Journal of Robotic Systems, 1984AbstractAn 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 E. Orin, Michael Bach
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A novel redundancy index for kinematically redundant manipulators
Journal of the Chinese Institute of Engineers, 2007Abstract 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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Kinematic Redundancy Resolution for Baxter Robot
2021 7th International Conference on Automation, Robotics and Applications (ICARA), 2021This paper reports the results of the kinematic redundancy resolution for the Baxter research robot arms. A robot manipulator arm is said to be kinematically redundant if it has more degrees of freedom than strictly needed for executing a given task.
Luong A. Nguyen +2 more
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Redundant actuation for improving kinematic manipulability
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003Parallel 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 ...
John F. O'Brien, John T. Wen
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A New Approach for Kinematic Resolution of Redundancy
The International Journal of Robotics Research, 1988This paper deals with the trajectories of points embedded in a moving rigid body being guided by a linkage having extra or "redundant" motion parameters. A new method for the kinematic use of redundancy is presented. The method is based on the concept of a metric and differs from the typically used pseudo-inverse formulation.
Ashitava Ghosal, B. Roth
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Controlling chaotic robots with kinematical redundancy
Chaos: An Interdisciplinary Journal of Nonlinear Science, 2006Robots 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 +3 more
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A solution to the inverse kinematics of redundant manipulators
Journal of Robotic Systems, 1985AbstractA solution to the inverse kinematics is a set of joint coordinates which correspond to a given set of task space coordinates (position and orientation of end effector). For the class of kinematically redundant robots, the solution is generically nonunique such that special methods are required for obtaining a solution.
Beno Benhabib +2 more
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Inverse kinematic algorithms for redundant systems
Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003An 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.
Hari Das +2 more
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A Review of Redundant Parallel Kinematic Mechanisms
Journal of Intelligent & Robotic Systems, 2016Parallel kinematic mechanisms (PKM) have received particular attention due to their higher stiffness, increased payload capacity, and agility, when compared to their serial counterparts. Despite these significant advantages, however, most PKM designs, typically, yield limited workspace, problematic singularities, and configuration-dependent stiffness ...
Mario Luces +2 more
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