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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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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Motion planning of planar and redundant underwater serial link manipulator based on minimization of energy consumption [PDF]
Archive of Mechanical Engineering, 2021 The article describes motion planning of an underwater redundant manipulator with revolute joints moving in a plane under gravity and in the presence of obstacles.
Virendra Kumar +2 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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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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Reinforcement Learning-Based Reactive Obstacle Avoidance Method for Redundant Manipulators
Entropy, 2022 Redundant manipulators are widely used in fields such as human-robot collaboration due to their good flexibility. To ensure efficiency and safety, the manipulator is required to avoid obstacles while tracking a desired trajectory in many tasks ...
Yue Shen +5 more
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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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IEEE Access, 2020 This paper presents an adaptive caging configuration design algorithm of the hyper-redundant manipulator for dysfunctional satellite pre-capture. Taking advantages of the extreme flexibility and hyper-redundancy, the hyper-redundant manipulator wraps its
Wenya Wan, Chong Sun, Jianping Yuan
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