Results 11 to 20 of about 3,362 (301)
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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Kinematically Optimal Robust Control of Redundant Manipulators
International Journal of Applied Mechanics and Engineering, 2017 This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain.
M. Galicki
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Performance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility
International Journal of Advanced Robotic Systems, 2011 Performance evaluation is one of the most important issues in the field of parallel kinematic manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been studied intensively.
Fugui Xie, Xin-Jun Liu, Jinsong Wang
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Influence of trajectories on the joint torques of kinematically redundant manipulators [PDF]
Vietnam Journal of Mechanics, 2007 This paper presents an algorithm for solving the inverse dynamics problem of redundant manipulators using MAPLE software. The method has the advantage of generating efficient symbolic solutions which reduces the computational cost.
Nguyen Van Khang +3 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
Dipendra Subedi +2 more
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Robotics, 2023 The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators.
Vladimir Filaretov +2 more
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Machines, 2023 Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies.
Adrian Peidro, Edward J. Haug
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A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators [PDF]
, 2011 This paper presents a general and systematic approach to formulate the dimensionally homogeneous Jacobian, which is an important issue for the dexterity evaluation and dimensional synthesis of f-degrees-of-freedom (DOF) (f ≤ 6) parallel manipulators ...
Huang, Tian +5 more
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Cartesian Trajectory Tracking for Manipulators Using Optimal Control Theory [PDF]
Modeling, Identification and Control, 1987 A Cartesian trajectory tracking system for manipulators is developed using optimal control theory. By including the Cartesian position in the state vector, transformation of the trajectory from Cartesian space to manipulator joint space is avoided, and ...
Olav Egeland
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IEEE Access, 2020 Redundant manipulators play important roles in many industrial and service applications by assisting people fulfill heavy and repetitive jobs. However, redundant manipulators are coupled highly-nonlinear systems which exert difficulty of redundancy ...
Yaozong Cheng +3 more
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