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Path planning of hyper‐redundant manipulators for narrow spaces
IET Cyber-systems and Robotics, 2022 Compared with the traditional manipulator, the hyper‐redundant manipulator has the advantage of high flexibility, which is particularly suitable for all kinds of complex working environments.
Haoxiang Su +5 more
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Control of Redundant Flexible Manipulators with Redundancy Resolution
2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), 2022 © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component
Dipendra Subedi +2 more
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Bidirectional RRT*-Based Path Planning for Tight Coordination of Dual Redundant Manipulators
Machines, 2023 There are closed-chain constraints between the left manipulator and the right manipulator in tight coordination of the dual redundant manipulator. The existing planning algorithms suitable for loose coordination cannot be directly applied to tight ...
Jun Dai, Yi Zhang, Hua Deng
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Optimal continuous-path control for manipulators with redundant degrees of freedom [PDF]
Modeling, Identification and Control, 1989 A control system for macro-mini manipulators is presented. A position transformation from the end-effector reference to joint coordinates is found using kinematic optimization.
Olav Egeland, Jan R. Sagli, Bård Jansen
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Dynamic Control of Kinematically Redundant Robotic Manipulators [PDF]
Modeling, Identification and Control, 1987 Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator.
Erling Lunde +2 more
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Reinforcement Learning-Based Reactive Obstacle Avoidance Method for Redundant Manipulators
Entropy, 2022 Redundant manipulators are widely used in fields such as human-robot collaboration due to their good flexibility. To ensure efficiency and safety, the manipulator is required to avoid obstacles while tracking a desired trajectory in many tasks ...
Yue Shen +5 more
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IEEE Access, 2020 This paper presents an adaptive caging configuration design algorithm of the hyper-redundant manipulator for dysfunctional satellite pre-capture. Taking advantages of the extreme flexibility and hyper-redundancy, the hyper-redundant manipulator wraps its
Wenya Wan, Chong Sun, Jianping Yuan
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IEEE Access, 2020 Motivated by the importance of fault-tolerant control for robot movement, a fault-tolerant motion planning scheme is proposed to eliminate the joint velocity jump of the redundant manipulator at the time of failure, and enhance the motion stability of ...
Jiawei Luo, Kene Li, Hui Yang, Jin Yang
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The Dexterity Capability Map for a Seven-Degree-of-Freedom Manipulator
Machines, 2022 For a grasping task planner, the pre-planning of the reachable tip pose in a manipulator’s workspace is important. On this basis, for a seven-degree-of-freedom (7-DOF) redundant manipulator, it is very meaningful to study how to give full play to its ...
Yuan Quan +4 more
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Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory [PDF]
Modeling, Identification and Control, 1987 A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and ...
Olav Egeland
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