Results 251 to 260 of about 15,211 (294)
Some of the next articles are maybe not open access.
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), 2002In 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 +2 more
openaire +1 more source
Dynamic Control of Redundant Manipulators
1988 American Control Conference, 1988AbstractRedundant 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. Selfâmotion is the internal (joint) motion of the manipulator that does not contribute to the end effector motion.
Hsu, Ping, Hauser, John, Satry, Shankar
openaire +2 more sources
Manipulability optimization of redundant manipulators using reinforcement learning
Industrial Robot: the international journal of robotics research and application, 2023Purpose 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 +4 more
openaire +1 more source
Manoeuvring highly redundant manipulators
Robotica, 1997A 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 ...
E. Sahin Conkur, Rob Buckingham
openaire +1 more source
Cheope: A new reconfigurable redundant manipulator
Mechanism and Machine Theory, 2010zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Tosi, Daniela +4 more
openaire +5 more sources
Manipulability Analysis for Cable-Driven Hyper-Redundant Manipulators
2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021Cable-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 +5 more
openaire +1 more source
The dynamic manipulability ellipsoid for redundant manipulators
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002Manipulability 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-
P. Chiaacchio, M. Concilio
openaire +1 more source
Spatial impedance control of redundant manipulators
Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003This 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 +2 more
openaire +3 more sources
Manipulability constraint locus for a redundant manipulator
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space.
null Byoung Wook Choi +2 more
openaire +1 more source
Kinematic redundancy: Kinetics for use with redundant manipulators
Open Access Government, 2023Kinematic 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