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Journal of Mechanisms and Robotics, 2017
Kinematic redundancy may be an efficient way to improve the performance of parallel manipulators. Nevertheless, the inverse kinematic problem of this kind of manipulator presents infinite solutions. The selection of a single kinematic configuration among a set of many possible ones is denoted as redundancy resolution.
João Cavacanti Santos +1 more
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Kinematic redundancy may be an efficient way to improve the performance of parallel manipulators. Nevertheless, the inverse kinematic problem of this kind of manipulator presents infinite solutions. The selection of a single kinematic configuration among a set of many possible ones is denoted as redundancy resolution.
João Cavacanti Santos +1 more
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A Practical Redundancy Resolution for 7 DOF Redundant Manipulators with Joint Limits
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007This paper proposes a practical redundancy resolution for 7 DOF redundant manipulators with joint limits. The primary concern of the paper is how to resolve the redundancy in the global configuration space when the movable joint angles are considerably restricted.
Masayuki Shimizu +2 more
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Redundancy resolution with minimum joint elastic deflection for elastic joint redundant robots
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002In this paper, the redundancy resolution methods for elastic joint redundant robots are studied. First, a redundancy resolution method, called MD method is, proposed by using joint elastic deflection as a performance index. The influence of robots' initial configuration on this method is then discussed.
null Zhao Jing, null Zhang Yue-Ming
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Robotica, 2018
SUMMARYNovel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3PRRR manipulator, is experimentally verified. Because of the presence of the kinematic redundancies, the inverse kinematic problem presents infinity ...
Andrés Gómez Ruiz +4 more
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SUMMARYNovel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3PRRR manipulator, is experimentally verified. Because of the presence of the kinematic redundancies, the inverse kinematic problem presents infinity ...
Andrés Gómez Ruiz +4 more
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Redundancy-Resolution Algorithms for Isotropic Robots
1998A real-time redundancy-resolution scheme for an isotropic, redundant robot is the subject of this paper. In redundant robots, the extra degrees of freedom can be used to minimize a performance index. The proposed index is quadratic in the joint variables, its weighting function having units of frequency.
N. Arenson, J. Angeles, L. Slutski
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Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task
Journal of Robotic Systems, 1992AbstractThis article proposes a method for the global optimization of redundancy over the whole task period in a kinematically redundant manipulator. The necessary conditions based on the calculus of variations for integral‐type criteria result in a second‐order differential equation.
CHOI, BW +2 more
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Redundancy Resolution of the Underactuated Manipulator
2013The domestic robot platform ACROBOTER exploits a novel concept of ceiling based locomotion. A climber unit moves on the almost obstacle free ceiling, while carries a swinging unit with a system of suspending and orienting cables. The objective of the robot is the fine positioning of the swinging unit that accomplishes path following or pick and place ...
Ambrus Zelei +3 more
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Optimal redundancy resolution for cooperative industrial robots
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 2002Planning for effective manipulation of single, redundant or multiple robot systems requires the consideration of the DOF, dexterity, tasks and constraints. A new approach to redundancy resolution for multiple cooperative robots is proposed. A relative Jacobian, thus relative dexterity, is clearly defined and derived for multiple robots.
B. Cao, G.I. Dodds, G.W. Irwin
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Resolution of redundant manipulators via distance optimization
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2000Redundant manipulators are useful in practice as they have freedom in addition to that needed for a specific end-effector position. This additional freedom has to be properly resolved, and such redundancy resolution problems have been actively studied over the past decade.
Ding, M.Z., Ong, C.J., Poo, A.N.
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Dynamical Resolution of Redundancy for Robot Manipulators
Journal of Mechanical Design, 1993A large class of work in the robot manipulator literature deals with the kinematical resolution of redundancy based on the pseudo-inverse of the manipulator Jacobian. In this paper an alternative dynamical approach to redundancy resolution is developed which utilizes the mapping between the actuator torques and the acceleration of the end-effector, at ...
Ghosal, A, Desa, S
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