Results 231 to 240 of about 156,308 (283)

The dynamic manipulability ellipsoid for redundant manipulators

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002
Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. A new definition of dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-
Pasquale Chiacchio, Mariano Concilio
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Dynamic Control of Redundant Manipulators

1988 American Control Conference, 1988
AbstractRedundant manipulators provide increased flexibility for the execution of complex tasks. Redundancy is often required to maintain manipulability and avoid obstacles while completing the required task. Self‐motion is the internal (joint) motion of the manipulator that does not contribute to the end effector motion.
Ping Hsu, John Hauser, Shankar Sastry 0001   +2 more
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Avoidance manipulability for redundant manipulators

Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2004
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 the proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure, which are ...
M. Minami, M. Takahara
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Redundant grasps, redundant manipulators, and their dual relationships

Journal of Robotic Systems, 1992
AbstractThis article presents a meaningful, practical, and theoretically sound solution that solves the problem of grasping a rigid object with a hand that has redundant (>6) grasping contacts. This is accomplished by introducing compliance at each contact point in such a way as to provide the engineer with the capabilities of object manipulation ...
David R. Kerr, Michael Griffis, D. John Sanger, Joseph Duffy   +3 more
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On the Inverse Kinematics of Redundant Manipulators

The International Journal of Robotics Research, 1988
Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced.
Daniel R. Baker, Charles W. Wampler II
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Manoeuvring highly redundant manipulators

Robotica, 1997
A task based approach to the issue of redundant robots starts from the premise that there are obstacles that cannot be removed from the working area and which therefore must be avoided. This statement produces the requirement for a device with a certain degree of mobility, and stresses the need to ensure that the aim is twofold: reach the goal and ...
Erdinc Sahin Conkur, Robert Buckingham 0002   +1 more
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Learning control for redundant manipulators

Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002
An iterative scheme is proposed for learning the input torques that produce a specified repetitive end-effector trajectory for a redundant manipulator, without explicit knowledge of the robot dynamic model. The approach does not rely on a specific inverse kinematic solution.
DE LUCA, Alessandro, MATALONI F.
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Manipulability optimization of redundant manipulators using reinforcement learning

Industrial Robot: the international journal of robotics research and application, 2023
Purpose The purpose of this paper is using a model-free reinforcement learning (RL) algorithm to optimize manipulability which can overcome difficulties of dilemmas of matrix inversion, complicated formula transformation and expensive calculation time.
Haoqiang Yang, Xinliang Li, Deshan Meng, Xueqian Wang 0001, Bin Liang 0001   +4 more
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Redundancy indices of kinematically redundant manipulators

2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies and Industrial Opportunities (Cat. No.00CH37141), 2002
In this work, novel measures, denoted redundancy indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy indices are easy to compute and can be applied to all types of kinematically redundant manipulators.
null Fan-Tien Cheng, null Chung-Wen Chen, null Min-Hsiung Hung   +2 more
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Manipulability Analysis for Cable-Driven Hyper-Redundant Manipulators

2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021
Cable-driven hyper-redundant manipulators (CDHMs) have been widely applied in aerospace, surgery, or other fields to complete tasks in narrow and multi-obstacles environments. Maneuverability is an important metric for CDHMs and is more difficult to analyze than traditional industrial robots because of their more complicated kinematics.
Haoqiang Yang, Deshan Meng, Xueqian Wang 0001, Bin Liang 0001, Wenfu Xu, Ping Jiang   +5 more
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