Results 271 to 280 of about 3,903 (306)

Evaluation of force capabilities for redundant manipulators

Proceedings of IEEE International Conference on Robotics and Automation, 2002
Manipulability ellipsoids and polytopes are well-known tools to graphically represents these capabilities. This paper focuses on the evaluation of force capabilities for redundant manipulators, for which additional constraints must be imposed on the available joint torques in order to satisfy the static assumption.
CHIACCHIO, Pasquale, Y. Bouffard Vercelli, F. Pierrot   +2 more
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Robust adaptive control of redundant manipulators

Journal of Intelligent & Robotic Systems, 1995
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Richard Colbaugh, Kristin Glass
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On the control of redundant coarse-fine manipulators

Proceedings, 1989 International Conference on Robotics and Automation, 2003
The problem of controlling the end-point position of a redundant coarse-fine manipulator is investigated. Such a system typically consists of a coarse robot for approximate positioning and, fastened to the end of it, a fast and accurate fine-motion robotic device. For small motions for which a linearized model of the coarse-fine dynamics is assumed, it
Septimiu E. Salcudean, Chae An
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On dynamical decoupling of kinematically redundant manipulators

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003
The kinematically decoupled joint space decomposition is proposed as a general coordinate transformation between the joint space and the task space of kinematically redundant manipulators. The method can describe the kinematic, force, and dynamic redundancy in a unified way using a minimal number of systematic motion variables.
Jonghoon Park, Wankyun Chung, Youngil Youm   +2 more
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Shape control of hyper redundant manipulator

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This paper shows a control law to let hyper redundant manipulators be in specified shapes. Such shape controls are necessary for whole arm manipulation, crevice penetrations and obstacle avoidance. The proposed control is complete local-wise law. Each controller can determine its joint motion by itself while every controller has the same hardware and ...
Hisato Kobayashi, Sjigeo Ohtake
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Redundant Manipulators

2021
Jaeheung Park, Keunwoo Jang
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Task-space tracking with redundant manipulators

IEEE Journal on Robotics and Automation, 1987
A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed. The controller distributes the fast motion to the small fast manipulator and the slow gross motion to the positioning part. A position reference is generated on-line to the positioning part to avoid singularities and the loss of ...
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Teleoperation of a Redundant Manipulator

1993
For an interactive real-time simulation of teleoperation, this paper describes an iterative form of resolved motion rate control in which the constraint Jacobian is constructed on-line in real time and is used in the pseudoinverse method, as the manipulator is teleoperated.
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Classification of singular configurations for redundant manipulators

Proceedings., IEEE International Conference on Robotics and Automation, 2002
A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration.
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Control of redundant manipulators for task compatibility

Proceedings. 1987 IEEE International Conference on Robotics and Automation, 2005
When called upon to perform a manipulation task, through experience we place our arm in a posture which is best suited for performing that task. Posture variation is a means through which the motion and strength characteristic of the arm is made compatible with the task requirements. We propose an index for measuring the compatibility of an arm posture
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