Results 291 to 300 of about 737,737 (355)

Adaptive Discrete ZND Models for Tracking Control of Redundant Manipulator

IEEE Transactions on Industrial Informatics, 2020
In recent years, many models with high precision for redundant manipulator tracking control have been proposed based on precise kinematics equations. Nevertheless, without precise kinematic equations, developing a model with high precision for tracking ...
Min Yang, Yunong Zhang, Zhijun Zhang, Haifeng Hu   +3 more
semanticscholar   +1 more source

A General Framework of Motion Planning for Redundant Robot Manipulator Based on Deep Reinforcement Learning

IEEE Transactions on Industrial Informatics, 2022
Motion planning and its optimization is vital and difficult for redundant robot manipulator in an environment with obstacles. In this article, a general motion planning framework that integrates deep reinforcement learning (DRL) is proposed to explore ...
Xiangjian Li, Huashan Liu, Menghua Dong
semanticscholar   +1 more source

Redundancy indices of kinematically redundant manipulators

2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002
In this work, novel measures, denoted redundancy indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy indices are easy to compute and can be applied to all types of kinematically redundant manipulators.
null Fan-Tien Cheng, null Chung-Wen Chen, null Min-Hsiung Hung   +2 more
openaire   +1 more source

Bilateral Teleoperation Control of a Redundant Manipulator with an RCM Kinematic Constraint

IEEE International Conference on Robotics and Automation, 2020
In this paper, a bilateral teleoperation control of a serial robot manipulator, which guarantees a Remote Center of Motion (RCM) constraint in its kinematic level, is developed. A two-layered approach based on the energy tank model is proposed to achieve
Hang Su, Y. Schmirander, Zhijun Li, Xuanyi Zhou, G. Ferrigno, E. De Momi   +5 more
semanticscholar   +1 more source

Dual-User Haptic Teleoperation of Complementary Motions of a Redundant Wheeled Mobile Manipulator Considering Task Priority

IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2022
With the increasing applications of wheeled mobile manipulators (WMMs), consisting of a mobile platform (MP) and a manipulator, in diverse fields, new challenges have arisen in achieving multiple tasks such as obstacle avoidance in a constrained ...
Hongjun Xing, L. Ding, Haibo Gao, Weihua Li, M. Tavakoli   +4 more
semanticscholar   +1 more source

Dynamic Control of Redundant Manipulators

1988 American Control Conference, 1988
AbstractRedundant manipulators provide increased flexibility for the execution of complex tasks. Redundancy is often required to maintain manipulability and avoid obstacles while completing the required task. Self‐motion is the internal (joint) motion of the manipulator that does not contribute to the end effector motion.
Hsu, Ping, Hauser, John, Satry, Shankar
openaire   +2 more sources

Kinematics, Dynamics, and Control of a Cable-Driven Hyper-Redundant Manipulator

IEEE/ASME transactions on mechatronics, 2018
A cable-driven hyper-redundant manipulator has superior dexterity for confined space applications. However, the modeling and control considering the cables are very complex.
Wenfu Xu, Tianliang Liu, Yangmin Li
semanticscholar   +1 more source

Force Sensing and Compliance Control for a Cable-Driven Redundant Manipulator

IEEE/ASME transactions on mechatronics
The cable-driven redundant manipulator (CDRM) has a light slender and highly dexterous body, which is especially suitable for fine manipulation in confined spaces or unstructured environments.
Wenshuo Li, X. Huang, Lei Yan, Hongyang Cheng, Bin Liang, Wenfu Xu   +5 more
semanticscholar   +1 more source

Geometric Search-Based Inverse Kinematics of 7-DoF Redundant Manipulator with Multiple Joint Offsets

IEEE International Conference on Robotics and Automation, 2019
We propose a geometric method to solve inverse kinematics (IK) problems of 7-DoF manipulators with joint offsets at shoulder, elbow, and wrist. Traditionally, inverse position kinematics for redundant manipulators are solved by using an iterative method ...
Anirban Sinha, N. Chakraborty
semanticscholar   +1 more source

Manipulability optimization of redundant manipulators using reinforcement learning

Industrial Robot: the international journal of robotics research and application, 2023
Purpose The purpose of this paper is using a model-free reinforcement learning (RL) algorithm to optimize manipulability which can overcome difficulties of dilemmas of matrix inversion, complicated formula transformation and expensive calculation time.
Haoqiang Yang, Xinliang Li, Deshan Meng, Xueqian Wang, Bin Liang   +4 more
openaire   +1 more source