Results 261 to 270 of about 15,211 (294)

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 ...
D. R. Kerr, M. Griffis, D. J. Sanger, J. Duffy   +3 more
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

Comments on Manipulability Measure in Redundant Planar Manipulators

2006 IEEE 3rd Latin American Robotics Symposium, 2006
In this paper we perform an analysis of the mani-pulability matrix of a manipulator in terms of its eigenvalues and eigenvectors (eigen-analysis), which defines the well know mani-pulability ellipsoid for planar manipulators. We show that the manipulability measure does not depend on the first joint angle, for redundant manipulators. The determinant of
Allan de M. Martins, Anfranserai M. Dias, Pablo J. Alsina   +2 more
openaire   +1 more source

Redundant Manipulators

2021
Jaeheung Park, Keunwoo Jang
openaire   +1 more source

Dynamic manipulability ellipsoid for redundant manipulators

1998
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 dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in
CHIACCHIO, Pasquale, M. Concilio
openaire   +1 more source

Swarm-based object manipulation using redundant manipulator analogs

2008 IEEE International Conference on Robotics and Automation, 2008
In this paper, we present a method utilizing manipulability concepts and redundant manipulator analogs for swarm manipulation of a rigid object in the plane using autonomous surface vessels. The key concepts involve maximizing some metric defined in relation to a manipulability ellipsoid, which represents the mapping between applied thrust and ...
openaire   +1 more source

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   +1 more source

Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective

IEEE Transactions on Industrial Informatics, 2022
Jialiang Fan, Long Jin, Zhengtai Xie
exaly  

Kinematically Redundant Manipulators

2008
CHIAVERINI, Stefano, ORIOLO G, WALKER I. D.   +2 more
openaire   +3 more sources

RNN for Receding Horizon Control of Redundant Robot Manipulators

IEEE Transactions on Industrial Electronics, 2022
Jingkun Yan, Long Jin
exaly