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Subtask performance by redundancy resolution for redundant robot manipulators
IEEE Journal on Robotics and Automation, 1988The 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), 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
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A new dynamic manipulability ellipsoid for redundant manipulators
Robotica, 2000Manipulability 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 ...
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Path following algorithm for highly redundant manipulators
Robotics and Autonomous Systems, 2003 An algorithm for path planning for highly redundant manipulators is presented in this paper. Assuming an approximated path is given by B-spline curves, path following is defined by requiring manipulator links to remain approximately tangent to these ...
Conkur, Erdinç Şahin
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A novel redundancy index for kinematically redundant manipulators
Journal of the Chinese Institute of Engineers, 2007Abstract 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
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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.
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Evaluation of force capabilities for redundant manipulators
Proceedings of IEEE International Conference on Robotics and Automation, 2002Manipulability 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 +2 more
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Robust adaptive control of redundant manipulators
Journal of Intelligent & Robotic Systems, 1995zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Richard Colbaugh, Kristin Glass
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On the control of redundant coarse-fine manipulators
Proceedings, 1989 International Conference on Robotics and Automation, 2003The problem of controlling the end-point position of a redundant coarse-fine manipulator is investigated. Such a system typically consists of a coarse robot for approximate positioning and, fastened to the end of it, a fast and accurate fine-motion robotic device. For small motions for which a linearized model of the coarse-fine dynamics is assumed, it
Septimiu E. Salcudean, Chae An
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On dynamical decoupling of kinematically redundant manipulators
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003The kinematically decoupled joint space decomposition is proposed as a general coordinate transformation between the joint space and the task space of kinematically redundant manipulators. The method can describe the kinematic, force, and dynamic redundancy in a unified way using a minimal number of systematic motion variables.
Jonghoon Park +2 more
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