Results 11 to 20 of about 15,211 (294)
A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis [PDF]
Mechanism and Machine Theory, 2018 © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots.
Basañez Villaluenga, Luis +1 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
doaj +1 more source
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
doaj +1 more source
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
doaj +2 more sources
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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Influence of trajectories on the joint torques of kinematically redundant manipulators
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
doaj +1 more source
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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Acceleration-Level Obstacle Avoidance of Redundant Manipulators
IEEE Access, 2019 Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented.
Dongsheng Guo +2 more
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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
openaire +3 more sources
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 ...
Mamoru Minani +2 more
openaire +2 more sources