Results 31 to 40 of about 3,903 (306)
Advances in Mechanical Engineering, 2017 This study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is ...
Liping Wang, Guang Yu, Jun Wu
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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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A novel approach for 2-degrees of freedom redundant parallel manipulator dynamics
Advances in Mechanical Engineering, 2017 A novel Udwadia–Kalaba approach for redundant parallel manipulator dynamics is presented in this article. This methodology is explicit and simple which is suitable for systems with holonomic or non-holonomic constraints.
Rongrong Yu +3 more
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Dynamic obstacle avoidance and trajectory planning of five-axis redundant industrial manipulator [PDF]
, 2023 Aiming at the problem that five axis redundant industrial manipulator dynamic obstacle avoidance and trajectory planning algorithm does not consider the minimum difference of each joint of the manipulator, which leads to low success rate of obstacle ...
Ma, Jian, Jian Ma
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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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Avoidance Manipulability for Redundant Manipulators.
Journal of the Robotics Society of Japan, 1999 This 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 proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure which are ...
Minani, Mamoru +2 more
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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 ...
Toshio Tsuji, Makoto Kaneko
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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
Journal of the Robotics Society of Japan, 2016 This paper analyzes the dynamics of robotic manipulator based on a concept called dynamic reconfiguration manipulability (DRM), which gauges the dynamical shape-changeability of a robot based on the redundancy of the robot and the premise that the primary task is the hand task.
Mamoru Minami +3 more
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