Results 271 to 280 of about 172,995 (305)

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
openaire   +2 more sources

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.
openaire   +1 more source

Redundant Manipulators

2021
Jaeheung Park, Keunwoo Jang
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Kinematic programming alternatives for redundant manipulators

Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005
In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving the inverse kinemetics problem. Some of these techniques are surveyed with a discussion of strengths and weaknesses of each. A new approach, called the extended Jacobian technique, is also presented. It is argued that because this technique
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Dynamic manipulability ellipsoid for redundant manipulators

1998
Manipulability 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 dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in
CHIACCHIO, Pasquale, M. Concilio
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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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Kinematically Redundant Manipulators

2008
CHIAVERINI, Stefano, ORIOLO G, WALKER I. D.   +2 more
openaire   +3 more sources

A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators

IEEE Transactions on Industrial Informatics, 2022
Peng Yu, Fenglei Ni
exaly  

Inverse Kinematics and Planning/Control Co-Design Method of Redundant Manipulator for Precision Operation: Design and Experiments

Robotics and Computer-Integrated Manufacturing, 2023
Tuanjie Li, Yuming Ning
exaly  

Analytical Inverse Kinematic Computation for 7-DOF Redundant Sliding Manipulators

Mechanism and Machine Theory, 2021
Yuchuang Tong, Jinguo Liu, Yuwang Liu
exaly