Results 241 to 250 of about 156,308 (283)

A novel quantitative measure of redundancy for kinematically redundant manipulators

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002
In this paper, a novel quantitative measure of redundancy, called refined redundancy index (RRI), which is measured in the joint-rate level, is proposed. Based on the concept that a larger solution space of the inverse kinematics problem represents larger redundancy, the RRI is defined as the normalized magnitude of the solution spaces.
Min-Hsiung Hung, Fan-Tien Cheng, Jen-Kuei Ting   +2 more
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Subtask performance by redundancy resolution for redundant robot manipulators

IEEE Journal on Robotics and Automation, 1988
The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and ...
Ian D. Walker, Steven I. Marcus
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Spatial impedance control of redundant manipulators

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003
This work is focused on impedance control of redundant manipulators. A spatial impedance formulation is presented where general 6-DOF end-effector tasks can be handled. A singularity-free angle/axis representation of end-effector orientation is used which allows geometric task consistency to be preserved.
C. NATALE, SICILIANO, BRUNO, VILLANI, LUIGI   +2 more
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A new dynamic manipulability ellipsoid for redundant manipulators

Robotica, 2000
Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. In this paper a new definition of a dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator ...
openaire   +2 more sources

Kinematic redundancy: Kinetics for use with redundant manipulators

Open Access Government, 2023
Kinematic redundancy: Kinetics for use with redundant manipulators Kousuke Okabe, an Associate Professor in the Department of Electrical and Computer Engineering, explores kinematic redundancy and the redundant manipulator using the Grassmann algebra.
openaire   +1 more source

A novel redundancy index for kinematically redundant manipulators

Journal of the Chinese Institute of Engineers, 2007
Abstract This work proposes a novel quantitative measure of redundancy, called a Refined Redundancy Index (RRI), for kinematically redundant manipulators. The constrained inverse kinematics problem is formulated at the joint‐rate level. RRI is then defined as the normalized magnitude of the solution spaces, based on the fact that a larger solution ...
Min‐Hsiung Hung, Jen‐Kuei Ting
openaire   +1 more source

Evaluation of force capabilities for redundant manipulators

Proceedings of IEEE International Conference on Robotics and Automation, 2002
Manipulability ellipsoids and polytopes are well-known tools to graphically represents these capabilities. This paper focuses on the evaluation of force capabilities for redundant manipulators, for which additional constraints must be imposed on the available joint torques in order to satisfy the static assumption.
CHIACCHIO, Pasquale, Y. Bouffard Vercelli, F. Pierrot   +2 more
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Robust adaptive control of redundant manipulators

Journal of Intelligent & Robotic Systems, 1995
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Richard Colbaugh, Kristin Glass
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Shape control of hyper redundant manipulator

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This paper shows a control law to let hyper redundant manipulators be in specified shapes. Such shape controls are necessary for whole arm manipulation, crevice penetrations and obstacle avoidance. The proposed control is complete local-wise law. Each controller can determine its joint motion by itself while every controller has the same hardware and ...
Hisato Kobayashi, Sjigeo Ohtake
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Redundant actuation for improving kinematic manipulability

Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003
Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be ...
John F. O'Brien, John T. Wen
openaire   +1 more source