Results 261 to 270 of about 172,995 (305)
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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
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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
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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
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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
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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 ...
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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.
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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
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A solution to the inverse kinematics of redundant manipulators
Journal of Robotic Systems, 1985AbstractA solution to the inverse kinematics is a set of joint coordinates which correspond to a given set of task space coordinates (position and orientation of end effector). For the class of kinematically redundant robots, the solution is generically nonunique such that special methods are required for obtaining a solution.
Beno Benhabib +2 more
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On the evaluation of reachable workspace for redundant manipulators
Proceedings of the third international conference on Industrial and engineering applications of artificial intelligence and expert systems - IEA/AIE '90, 1990In this paper, we discuss the problem of computing the reachable workspace for redundant manipulators. Algorithms that compute workspace boundary points by using screw theory are presented. These algorithms cannot distinguish holes and voids that are buried within the reachable workspace.
Tarek K. Alameldin, Tarek M. Sobh
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On the stiffness and stiffness control of redundant manipulators
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2003An analysis of the stiffness of redundant manipulators is undertaken in this paper. First, the matrix of the force-dependent stiffness is derived and its basic properties are analyzed. In particular, in the planar case the stability conditions for the force dependent stiffness (and gravity-dependent stiffness) are obtained in the analytical form. Next,
Mikhail M. Svinin +3 more
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