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Robustness issues in kinematically redundant manipulator control
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 1995Kinematic 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.
Luong A. Nguyen +2 more
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Resolution of kinematic redundancy using optimization techniques
IEEE Transactions on Robotics and Automation, 1988Path 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.
Daniel P. Martin 0002 +2 more
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Trajectory optimization for kinematically redundant arms
Journal of Robotic Systems, 1991AbstractA 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 ...
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Generalized Kinematic Control of Redundant Manipulators
2007Recently, 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 ...
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Chapter 33 Kinematic Redundancy
1999Publisher 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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Kinematic control of redundant robot manipulators: A tutorial
Journal of Intelligent and Robotic Systems, 1990In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization ...
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The Kinematics of Hyper-Redundant Robots
1998Hyper-Redundant robots have a large or infinite degree of kinematic redundancy. This paper reviews some simple hyper-redundant robot modeling and task planning techniques. These methods are based on a ‘backbone curve’ that captures the robot’s macroscopic geometric features.
Joel W. Burdick, Gregory S. Chirikjian
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Design of kinematically redundant mechanisms
1985 24th IEEE Conference on Decision and Control, 1985It 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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