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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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On redundant flagged manipulators [PDF]
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006 IEEE International Conference on Robotics and Automation (ICRA), 2006, Orlando (EE.UU.)
Maria Alberich-Carramiñana +2 more
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A hyper-redundant manipulator [PDF]
IEEE Robotics & Automation Magazine, 1994 "Hyper-redundant" manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping.
Chirikjian, Gregory S., Burdick, Joel W.
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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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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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Path planning of hyper‐redundant manipulators for narrow spaces
IET Cyber-systems and Robotics, 2022 Compared with the traditional manipulator, the hyper‐redundant manipulator has the advantage of high flexibility, which is particularly suitable for all kinds of complex working environments.
Haoxiang Su +5 more
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Bidirectional RRT*-Based Path Planning for Tight Coordination of Dual Redundant Manipulators
Machines, 2023 There are closed-chain constraints between the left manipulator and the right manipulator in tight coordination of the dual redundant manipulator. The existing planning algorithms suitable for loose coordination cannot be directly applied to tight ...
Jun Dai, Yi Zhang, Hua Deng
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Control of Redundant Flexible Manipulators with Redundancy Resolution
2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2022 © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component
Dipendra Subedi +2 more
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Optimal continuous-path control for manipulators with redundant degrees of freedom [PDF]
Modeling, Identification and Control, 1989 A control system for macro-mini manipulators is presented. A position transformation from the end-effector reference to joint coordinates is found using kinematic optimization.
Olav Egeland, Jan R. Sagli, Bård Jansen
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Dynamic Control of Kinematically Redundant Robotic Manipulators [PDF]
Modeling, Identification and Control, 1987 Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator.
Erling Lunde +2 more
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