Results 261 to 270 of about 3,903 (306)
Some of the next articles are maybe not open access.
Manipulability optimization of redundant manipulators using reinforcement learning
Industrial Robot: the international journal of robotics research and application, 2023Purpose The purpose of this paper is using a model-free reinforcement learning (RL) algorithm to optimize manipulability which can overcome difficulties of dilemmas of matrix inversion, complicated formula transformation and expensive calculation time.
Haoqiang Yang +4 more
openaire +1 more source
A novel quantitative measure of redundancy for kinematically redundant manipulators
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002In this paper, a novel quantitative measure of redundancy, called refined redundancy index (RRI), which is measured in the joint-rate level, is proposed. Based on the concept that a larger solution space of the inverse kinematics problem represents larger redundancy, the RRI is defined as the normalized magnitude of the solution spaces.
Min-Hsiung Hung +2 more
openaire +1 more source
Manipulability Analysis for Cable-Driven Hyper-Redundant Manipulators
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021Cable-driven hyper-redundant manipulators (CDHMs) have been widely applied in aerospace, surgery, or other fields to complete tasks in narrow and multi-obstacles environments. Maneuverability is an important metric for CDHMs and is more difficult to analyze than traditional industrial robots because of their more complicated kinematics.
Haoqiang Yang +5 more
openaire +1 more source
Learning control for redundant manipulators
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002An iterative scheme is proposed for learning the input torques that produce a specified repetitive end-effector trajectory for a redundant manipulator, without explicit knowledge of the robot dynamic model. The approach does not rely on a specific inverse kinematic solution.
DE LUCA, Alessandro, MATALONI F.
openaire +2 more sources
Subtask performance by redundancy resolution for redundant robot manipulators
IEEE Journal on Robotics and Automation, 1988The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and ...
Ian D. Walker, Steven I. Marcus
openaire +1 more source
Performance Analysis and Optimum Design of a Redundant Planar Parallel Manipulator
Symmetry, 2019 This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar parallel ...
Xiaoyong Wu
exaly +2 more sources
Spatial impedance control of redundant manipulators
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003This work is focused on impedance control of redundant manipulators. A spatial impedance formulation is presented where general 6-DOF end-effector tasks can be handled. A singularity-free angle/axis representation of end-effector orientation is used which allows geometric task consistency to be preserved.
C. NATALE +2 more
openaire +3 more sources
A new dynamic manipulability ellipsoid for redundant manipulators
Robotica, 2000Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator ...
openaire +1 more source
A novel redundancy index for kinematically redundant manipulators
Journal of the Chinese Institute of Engineers, 2007Abstract This work proposes a novel quantitative measure of redundancy, called a Refined Redundancy Index (RRI), for kinematically redundant manipulators. The constrained inverse kinematics problem is formulated at the joint‐rate level. RRI is then defined as the normalized magnitude of the solution spaces, based on the fact that a larger solution ...
Min‐Hsiung Hung, Jen‐Kuei Ting
openaire +1 more source
Kinematic redundancy: Kinetics for use with redundant manipulators
Open Access Government, 2023Kinematic redundancy: Kinetics for use with redundant manipulators Kousuke Okabe, an Associate Professor in the Department of Electrical and Computer Engineering, explores kinematic redundancy and the redundant manipulator using the Grassmann algebra.
openaire +1 more source