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Redundancy resolution for underwater mobile manipulators
Ocean Engineering, 2010Abstract A new fault-tolerant redundancy resolution scheme is presented that allows a single six degree of freedom (DOF) command to be distributed over a small remotely operated underwater vehicle–manipulator (ROVM) system. ROVM systems are composed of a remotely operated underwater vehicle (ROV) and serial manipulator.
Serdar Soylu +2 more
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An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators
IEEE Transactions on Robotics, 2011In this paper, redundancy resolution of a cable-driven parallel manipulator is performed through an analytic-iterative scheme. The redundancy resolution scheme is formulated as a convex optimization problem with inequality constraints that are imposed by manipulator structure and cable dynamics.
Hamid D. Taghirad, Yousef B. Bedoustani
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Reliable redundancy resolution strategies for kinematically redundant parallel manipulators
Mechanism and Machine Theory, 2022Abstract The reconfiguration capability given by the use of kinematic redundancy can be an alternative for enlarging the useable workspace of parallel manipulators. However, the inverse kinematic model of a kinematically redundant parallel manipulator presents an infinite number of solutions requiring redundancy resolution strategies.
Hiparco Lins Vieira +2 more
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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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Subtask performance by redundancy resolution for redundant robot manipulators
IEEE Journal on Robotics and Automation, 1988The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and ...
I.D. Walker, S.I. Marcus
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Redundancy Resolution in Trimanual vs. Bimanual Tracking Tasks
2023 45th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2023Supernumerary limbs promise to allow users to perform complex tasks that would otherwise require the actions of teams. However, how the user's capability for multimanual coordination compares to bimanual coordination, and how the motor system decides to configure its limb contributions given task redundancy is unclear.
Sanmartín-Senent, Ana +3 more
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Redundancy Resolution With Multiple Criteria
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006This paper presents a novel method of redundancy resolution with multiple performance criteria. In this method the homogenous solution of differential kinematics is derived as a weighted sum of joint velocities lying in the null space of the manipulator Jacobian instead of establishing an overall objective function as a weighted sum of multiple ...
Kwang-kyu Lee, Martin Buss
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