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Reinforcement Learning-Based Reactive Obstacle Avoidance Method for Redundant Manipulators [PDF]
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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Online learning fuzzy echo state network with applications on redundant manipulators [PDF]
Frontiers in NeuroroboticsRedundant manipulators are universally employed to save manpower and improve work efficiency in numerous areas. Nevertheless, the redundancy makes the inverse kinematics of manipulators hard to address, thus increasing the difficulty in instructing ...
Yanqiu Li, Huan Liu, Hailong Gao
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A hyper-redundant manipulator [PDF]
IEEE Robotics & Automation Magazine, 1994 “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform ...
Burdick, Joel W., Chirikjian, Gregory S.
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An Analytical Solution for Inverse Kinematics of SSRMS-Type Redundant Manipulators [PDF]
Sensors, 2023 Compared with non-redundant manipulators, the self-motion of 7-DOF redundant manipulators results in an infinite number of inverse kinematics solutions for a desired end-effector pose. This paper proposes an efficient and accurate analytical solution for
Li Qin +4 more
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Dynamic reconfiguration manipulability for redundant manipulators
Nihon Kikai Gakkai ronbunshu, 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.
Yosuke KOBAYASHI +2 more
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Multitask-Based Anti-Collision Trajectory Planning of Redundant Manipulators [PDF]
BiomimeticsDuring performing multiple tasks of a redundant manipulator, the obstacles affect the sequential order of task areas and the joint trajectories. The end-effector is constrained to visit multiple task areas with an optimal anti-collision path, while the ...
Suping Zhao +4 more
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Redundancy-Based Motion Planning with Task Constraints for Robot Manipulators [PDF]
SensorsFinding realistic motions for redundant manipulators is essential for complex jobs such as home care and industrial assembly. Motion planning is complex when a task requires standing upright or moving through restricted spaces.
Yi Zhang, Hongguang Wang
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Sensors, 2021 Different from traditional redundant manipulators, the redundant manipulators used in the surgical environment require the end effector (EE) to have high pose (position and orientation) accuracy to ensure the smooth progress of the operation.
Xinglei Zhang +3 more
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International Journal of Advanced Robotic Systems, 2021 Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching
Liangliang Zhao +4 more
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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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