Different-Level Simultaneous Minimization Scheme for Fault Tolerance of Redundant Manipulator Aided with Discrete-Time Recurrent Neural Network [PDF]
Frontiers in Neurorobotics, 2017 By incorporating the physical constraints in joint space, a different-level simultaneous minimization scheme, which takes both the robot kinematics and robot dynamics into account, is presented and investigated for fault-tolerant motion planning of ...
Long Jin +5 more
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A Novel Recurrent Neural Network for Improving Redundant Manipulator Motion Planning Completeness. [PDF]
IEEE Int Conf Robot Autom, 2018 Li Y, Li S, Hannaford B.
europepmc +4 more sources
Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator. [PDF]
Sensors (Basel), 2021 A new method of kinematic analysis and singularity analysis is proposed for a 7-DOF redundant manipulator with three consecutive parallel axes. First, the redundancy angle is described according to the self-motion characteristics of the manipulator, the ...
Shi X, Guo Y, Chen X, Chen Z, Yang Z.
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A Predictable Obstacle Avoidance Model Based on Geometric Configuration of Redundant Manipulators for Motion Planning [PDF]
Sensors, 2023 When a manipulator works in dynamic environments, it may be affected by obstacles and may cause danger to people around. This requires the manipulator to be able to plan the obstacle avoidance motion in real time.
Fengjia Ju +3 more
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An improved parameter identification method of redundant manipulator
International Journal of Advanced Robotic Systems, 2021 To achieve more accurate simulation and control in the use of the manipulator, it is necessary to establish an accurate dynamic model of the redundant manipulator. The research of this article focuses on the dynamic parameter identification method of the
Shi-Ping Liu +5 more
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IEEE Access, 2020 Redundant manipulators play important roles in many industrial and service applications by assisting people fulfill heavy and repetitive jobs. However, redundant manipulators are coupled highly-nonlinear systems which exert difficulty of redundancy ...
Yaozong Cheng +3 more
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A novel approach for 2-degrees of freedom redundant parallel manipulator dynamics [PDF]
Advances in Mechanical Engineering, 2017 A novel Udwadia–Kalaba approach for redundant parallel manipulator dynamics is presented in this article. This methodology is explicit and simple which is suitable for systems with holonomic or non-holonomic constraints.
Rongrong Yu +3 more
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Alexandria Engineering Journal, 2017 Optimum trajectory planning for a planar redundant manipulator which consumes minimum power is considered in this paper. The equations of motion for the manipulator are derived in matrix form using Lagrange Equation.
Mohamed M.Y.B. Elshabasy +2 more
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Kinematically Optimal Robust Control of Redundant Manipulators [PDF]
International Journal of Applied Mechanics and Engineering, 2017 This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain.
M. Galicki
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A trajectory planning method for the redundant manipulator based on configuration plane
International Journal of Advanced Robotic Systems, 2021 This study focuses on the method of trajectory planning of spatial obstacle avoidance for redundant manipulators based on configuration plane method.
Yanhui Wei +3 more
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