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Cheope: A new reconfigurable redundant manipulator
Mechanism and Machine Theory, 2010 This work presents a new reconfigurable parallel-serial hybrid manipulator that can reach 7 degrees of freedom as a whole. The architecture of the parallel part is modular and it can be configured to obtain for the mobile base 3 or 4 degrees of freedom ...
Giovanni Legnani +2 more
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Manipulability Analysis of Redundant Robotic Manipulator
Proceedings of the 21st International Conference on Computer Systems and Technologies, 2020The increased number of applications of the robotic systems in the human life leads to the need of assigning more complex tasks to such systems. The redundancy of the robotic configuration increases performance and precision of the execution of the assigned tasks.
Lyubomira Miteva +3 more
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The dynamic manipulability ellipsoid for redundant manipulators
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. A new definition of dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-
Pasquale Chiacchio, Mariano Concilio
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Dynamic Control of Redundant Manipulators
1988 American Control Conference, 1988AbstractRedundant manipulators provide increased flexibility for the execution of complex tasks. Redundancy is often required to maintain manipulability and avoid obstacles while completing the required task. Selfâmotion is the internal (joint) motion of the manipulator that does not contribute to the end effector motion.
Ping Hsu +2 more
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Manipulability constraint locus for a redundant manipulator
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space.
Byoung Wook Choi +2 more
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Avoidance manipulability for redundant manipulators
Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2004This paper is concerned with avoidance manipulability of redundant manipulators for trajectory tracking and obstacle avoidance. Possibility of avoiding a collision with obstacles during tracking a desired hand trajectory is discussed with the proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure, which are ...
M. Minami, M. Takahara
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Redundant grasps, redundant manipulators, and their dual relationships
Journal of Robotic Systems, 1992AbstractThis article presents a meaningful, practical, and theoretically sound solution that solves the problem of grasping a rigid object with a hand that has redundant (>6) grasping contacts. This is accomplished by introducing compliance at each contact point in such a way as to provide the engineer with the capabilities of object manipulation ...
David R. Kerr +3 more
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On the Inverse Kinematics of Redundant Manipulators
The International Journal of Robotics Research, 1988Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced.
Daniel R. Baker, Charles W. Wampler II
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Manoeuvring highly redundant manipulators
Robotica, 1997A task based approach to the issue of redundant robots starts from the premise that there are obstacles that cannot be removed from the working area and which therefore must be avoided. This statement produces the requirement for a device with a certain degree of mobility, and stresses the need to ensure that the aim is twofold: reach the goal and ...
Erdinc Sahin Conkur +1 more
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Redundancy indices of kinematically redundant manipulators
2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002In this work, novel measures, denoted redundancy indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy indices are easy to compute and can be applied to all types of kinematically redundant manipulators.
null Fan-Tien Cheng +2 more
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