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An Experimental Comparison of Redundancy Resolution Schemes
IFAC Proceedings Volumes, 2000Abstract We present an experimental comparison between two schemes for solving robot kinematic redundancy at the velocity level, based on the Projected Gradient and the Reduced Gradient methods. The schemes have been implemented on the 8R dof robot DEXTER, with the available joint range as a local optimization criterion.
A. BETTINI +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.
D.P. Martin, J. Baillieul, J. Hollerbach
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Compliant motion control and redundancy resolution for kinematically redundant manipulators
Proceedings of 1995 American Control Conference - ACC'95, 2005An augmented hybrid impedance control (AHIC) scheme is proposed for kinematically redundant manipulators. The hybrid impedance control (HIC) scheme, which has been used in the past for compliant motion control of non-redundant manipulators, is extended to the redundant case.
E. Shadpey +3 more
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ISSUES IN ACCELERATION RESOLUTION OF ROBOT REDUNDANCY
IFAC Proceedings Volumes, 1991Abstract Algorithmic methods for solving robot redundancy are considered, providing new strategies for optimizing general kinematic criteria at the acceleration level. Acceleration resolution offers two potential advantages: it allows to take into account dynamic performance and can be directly used with control techniques for accurate tracking ...
A. De Luca, G. Oriolo
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DRAT Proofs, Propagation Redundancy, and Extended Resolution
2019We study the proof complexity of RAT proofs and related systems including BC, SPR, and PR which use blocked clauses and (subset) propagation redundancy. These systems arise in satisfiability (SAT) solving, and allow inferences which preserve satisfiability but not logical implication. We introduce a new inference SR using substitution redundancy.
Buss, S., Thapen, N. (Neil)
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Partial resolution for redundant operation table
Microprocessors and Microsystems, 2008In this work, we discuss several drawbacks of the conventional wide-width redundant operation table such as the waste of area cost and power consumption. We found that the waste of area cost and power consumption is caused by storing meaningless bits of the narrow-width operand values.
Byung-Soo Choi, Jun-Dong Cho
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Global resolution of redundancy without optimization for redundant manipulators
Mechanism and Machine Theory, 1993Abstract A method for resolving the degrees of redundancy of a manipulator by imposing constraints in the form of functions of joint angles and their time-derivatives is presented. Several types of constraint functions, involving joint angles, joint torques and rate of energy dissipation, are considered for a 3R planar manipulator.
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Task-oriented redundancy resolution and obstacle avoidance for kinematically redundant robots
Proceedings of the 36th IEEE Conference on Decision and Control, 2002Planning for effective manipulation of redundant robot systems requires approaches which can take account of the DOF, task and constraints. In this paper, task-oriented robot arm redundancy resolution is introduced and a new approach to obstacle avoidance for redundant robots is proposed.
null Bailin Cao, G.I. Dodds, G.W. Irwin
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Iterative-analytic redundancy resolution scheme for a cable-driven redundant parallel manipulator
2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010In this paper, redundancy resolution of a cable-driven parallel manipulator is solved by an iterative-analytic scheme. The method can be applied to all kind of redundant manipulators either parallel or serial with constraint caused through their dynamics.
Yousef B. Bedoustani, Hamid D. Taghirad
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Redundancy Resolution with Periodic Input Disturbance
2019Input disturbances and physical constraints are important issues in the kinematic control of redundant manipulators. In this chapter, we present a novel recurrent neural network to simultaneously address the periodic input disturbance, joint angle constraint, and joint velocity constraint, and optimize a general quadratic performance index.
Yinyan Zhang, Shuai Li, Xuefeng Zhou
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