Results 311 to 320 of about 737,737 (355)
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Kinematics optimization of a novel 7-DOF redundant manipulator
Robotics Auton. Syst., 2023Yanlin Chen +4 more
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A novel redundancy index for kinematically redundant manipulators
Journal of the Chinese Institute of Engineers, 2007Abstract This work proposes a novel quantitative measure of redundancy, called a Refined Redundancy Index (RRI), for kinematically redundant manipulators. The constrained inverse kinematics problem is formulated at the joint‐rate level. RRI is then defined as the normalized magnitude of the solution spaces, based on the fact that a larger solution ...
Min‐Hsiung Hung, Jen‐Kuei Ting
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Comments on Manipulability Measure in Redundant Planar Manipulators
2006 IEEE 3rd Latin American Robotics Symposium, 2006In this paper we perform an analysis of the mani-pulability matrix of a manipulator in terms of its eigenvalues and eigenvectors (eigen-analysis), which defines the well know mani-pulability ellipsoid for planar manipulators. We show that the manipulability measure does not depend on the first joint angle, for redundant manipulators. The determinant of
Allan de M. Martins +2 more
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IEEE/ASME transactions on mechatronics, 2019
This paper presents a control scheme for addressing the moving target grabbing problem by a kinematically constrained redundant underwater vehicle-manipulator system (UVMS) in the presence of unmodeled uncertainties, sensory detecting noises, and time ...
Yong Dai +3 more
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This paper presents a control scheme for addressing the moving target grabbing problem by a kinematically constrained redundant underwater vehicle-manipulator system (UVMS) in the presence of unmodeled uncertainties, sensory detecting noises, and time ...
Yong Dai +3 more
semanticscholar +1 more source
Fuzzy adaptive PID fast terminal sliding mode controller for a redundant manipulator
, 2021Guoliang Zhong +2 more
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Learning framework for inverse kinematics of a highly redundant mobile manipulator
Robotics Auton. Syst., 2019A learning framework is proposed to solve the inverse kinematic problems of a highly redundant mobile manipulator designed to traverse on rough terrains. The problem is not trivial to solve and there does not exist a closed form solution.
R. Raja, A. Dutta, B. Dasgupta
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Dynamic manipulability ellipsoid for redundant manipulators
1998Manipulability 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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Swarm-based object manipulation using redundant manipulator analogs
2008 IEEE International Conference on Robotics and Automation, 2008In this paper, we present a method utilizing manipulability concepts and redundant manipulator analogs for swarm manipulation of a rigid object in the plane using autonomous surface vessels. The key concepts involve maximizing some metric defined in relation to a manipulability ellipsoid, which represents the mapping between applied thrust and ...
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