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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.
Byoung Wook Choi +2 more
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Avoidance manipulability for redundant manipulators
Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003), 2004This 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, 1992AbstractThis 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 +3 more
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On the Inverse Kinematics of Redundant Manipulators
The International Journal of Robotics Research, 1988Many 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, 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 ...
Erdinc Sahin Conkur +1 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), 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
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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
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A novel quantitative measure of redundancy for kinematically redundant manipulators
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002In 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 +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), 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
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Learning control for redundant manipulators
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002An 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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