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6-Step Discrete ZNN Model for Repetitive Motion Control of Redundant Manipulator
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2022In this article, the repetitive motion control of redundant manipulators is investigated. First, a repetitive motion control scheme is presented, and a continuous zeroing neural network (CZNN) model is obtained for solving the scheme.
Min Yang +3 more
semanticscholar +1 more source
A Small Opening Workspace Control Strategy for Redundant Manipulator Based on RCM Method
IEEE Transactions on Control Systems Technology, 2022This article presents a method for redundant manipulators working in the small opening workspace without collision. To achieve this aim, we began with an improved incremental radial basis function (RBF) neural network (RBFNN) method to estimate ...
Kunli Guo, Hang Su, Chenguang Yang
semanticscholar +1 more source
IEEE/ASME transactions on mechatronics, 2021
This article proposes a method with a potential field for optimizing the configuration of angular velocity to avoid joint limitations while following the desired orientation of the end effector of a redundant manipulator.
Jaehyung Kim +3 more
semanticscholar +1 more source
This article proposes a method with a potential field for optimizing the configuration of angular velocity to avoid joint limitations while following the desired orientation of the end effector of a redundant manipulator.
Jaehyung Kim +3 more
semanticscholar +1 more source
IEEE/ASME transactions on mechatronics, 2021
With a light-slender and superior dexterous body, the cable-driven segmented redundant manipulators (CSRMs) are excellent candidates for operations in narrow confined space. However, their application is still largely limited due to their weak stiffness,
Tianliang Liu +3 more
semanticscholar +1 more source
With a light-slender and superior dexterous body, the cable-driven segmented redundant manipulators (CSRMs) are excellent candidates for operations in narrow confined space. However, their application is still largely limited due to their weak stiffness,
Tianliang Liu +3 more
semanticscholar +1 more source
, 2021
Compared with traditional industrial robots, a hyper-redundant manipulator (HRM) has better flexibility, especially in obstacle avoidance, narrow restricted space crossing and fault-tolerant control. However, mathematical modeling and trajectory planning
Jianqing Peng +4 more
semanticscholar +1 more source
Compared with traditional industrial robots, a hyper-redundant manipulator (HRM) has better flexibility, especially in obstacle avoidance, narrow restricted space crossing and fault-tolerant control. However, mathematical modeling and trajectory planning
Jianqing Peng +4 more
semanticscholar +1 more source
Robust Neural Dynamics Method for Redundant Robot Manipulator Control With Physical Constraints
IEEE Transactions on Industrial Informatics, 2023Redundant robot manipulators play a significant role in modern industry. In this article, we propose a solution scheme to the trajectory tracking problem of the redundant robot manipulator with physical constraints through the Zhang neural dynamics ...
Miaomiao Zhang +6 more
semanticscholar +1 more source
A Fault-Tolerant Method for Motion Planning of Industrial Redundant Manipulator
IEEE Transactions on Industrial Informatics, 2020Nowadays, industrial redundant manipulators have been playing important roles in manufacturing fields, such as welding and assembling, by performing repetitive and dull work.
Zhan Li, Chunxu Li, Shuai Li, Xinwei Cao
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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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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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