Results 31 to 40 of about 737,737 (355)
IEEE Access, 2021 In this study, a new concept of allowable velocity and force is proposed to precisely evaluate the maximum directional kinematic capability of a redundant manipulator.
Jong Ho Kim +2 more
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Null-space impedance control of 7-degree-of-freedom redundant manipulators based on the arm angles
International Journal of Advanced Robotic Systems, 2020 An impedance control method in null-space for 7-degree-of-freedom redundant manipulators is presented in this article. The null-space impedance motion of the redundant manipulator was described in the angle domain and a null-space impedance equation was ...
Genliang Xiong, Yang Zhou, Jiankang Yao
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Workspace and Manipulability Analysis of a 4-R?RR Redundant Planar Parallel Manipulator
RMUTL Engineering Journal, 2022 Planar parallel manipulator has advantages to carry out high speed and accuracy tasks, but singular configurations can occur within a workspace. These singular configurations can be eliminated by adding redundant actuation.
Amnad Tongtib, Chawalit Khanakornsuksan
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Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization
Computer Modeling in Engineering & Sciences, 2020 Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize, the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied.
Shifu Xu, Yanan Jiang
semanticscholar +1 more source
Chinese Journal of Mechanical Engineering, 2020 A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for
Li Chen, Ying Ma, Yu Zhang, Jinguo Liu
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Dynamic reconfiguration manipulability for redundant manipulators
Transactions of the JSME (in Japanese), 2014 In this research, a new concept named Dynamic Reconfiguration Manipulability (DRM) is proposed, which gauges dynamical shape-changeability by using a redundancy of the robot on the premise that a primary task be given at hand. The DRM represents simultaneously how much acceleration each intermediate link can be generated and what direction the ...
Yosuke KOBAYASHI +2 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
Subedi, Dipendra +2 more
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Frontiers of Mechanical Engineering, 2021 The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts that remarkably differ from human arms make intuitive kinematic operation challenging to
Min Cheng +4 more
semanticscholar +1 more source
Noncontact impedance control for redundant manipulators [PDF]
IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, 1999 Proposes an impedance control method that can regulate a virtual impedance between a robot manipulator and external objects using visual information. The conventional impedance control method is not useful in some cases where no interaction force between the arm and its environment exists, although it is one of the most effective control methods for ...
Tsuji, Toshio, Kaneko, Makoto
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Analytical Inverse Kinematics and Self-Motion Application for 7-DOF Redundant Manipulator
IEEE Access, 2019 This paper studies multiple inverse kinematics solutions for a 7-DOF human redundant manipulator with a special joint configuration. A method is proposed for determining the continuous joint angle vector by selecting the inverse solution from discrete ...
Mingde Gong, Xiangdong Li, Lei Zhang
semanticscholar +1 more source