Results 11 to 20 of about 172,995 (305)
Workspace and Kinematics Analysis of Redundant Space Manipulator
MATEC Web of Conferences, 2016 In order to meet the requirements of tasks in the complex space environment, we designed a kind of 7 degrees of freedom redundant space manipulator in this paper. Its 3D modelling is based on SolidWorks 2015.
Zhang Jian-xia, Wei Xiao-peng
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A Review of the Space Trajectory Planning of Redundant Manipulator
Jixie chuandong, 2016 The redundant manipulator can use redundant degree of freedom to avoid obstacles,but it does not affect the operation of the end effecter. So comparing with general non- redundant manipulator,the redundant manipulator has obvious advantages for dealing ...
Gao Han, Zhang Minglu, Zhang Xiaojun
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Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator
Sensors, 2012 Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will ...
Samer Yahya +2 more
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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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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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IEEE Access, 2020 Motivated by the importance of fault-tolerant control for robot movement, a fault-tolerant motion planning scheme is proposed to eliminate the joint velocity jump of the redundant manipulator at the time of failure, and enhance the motion stability of ...
Jiawei Luo, Kene Li, Hui Yang, Jin Yang
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The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator
Machines, 2022 For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its ...
Yuan Quan +4 more
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Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory [PDF]
Modeling, Identification and Control, 1987 A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and ...
Olav Egeland
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IEEE Access, 2021 In this study, a new concept of allowable velocity and force is proposed to precisely evaluate the maximum directional kinematic capability of a redundant manipulator.
Jong Ho Kim +2 more
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Advances in Mechanical Engineering, 2017 This study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is ...
Liping Wang, Guang Yu, Jun Wu
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