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Shape control of hyper redundant manipulator
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This 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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Task-space tracking with redundant manipulators
IEEE Journal on Robotics and Automation, 1987A controller for redundant manipulators with a small fast manipulator mounted on a positioning part has been developed. The controller distributes the fast motion to the small fast manipulator and the slow gross motion to the positioning part. A position reference is generated on-line to the positioning part to avoid singularities and the loss of ...
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Teleoperation of a Redundant Manipulator
1993For an interactive real-time simulation of teleoperation, this paper describes an iterative form of resolved motion rate control in which the constraint Jacobian is constructed on-line in real time and is used in the pseudoinverse method, as the manipulator is teleoperated.
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Classification of singular configurations for redundant manipulators
Proceedings., IEEE International Conference on Robotics and Automation, 2002A general methodology is presented for the singularity analysis of kinematically redundant manipulators. The singular configurations are classified based on the possibility of reconfiguration into a nonsingular posture using self-motion. A procedure is presented to test for the possibility of self-motion at a singular configuration.
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Control of redundant manipulators for task compatibility
Proceedings. 1987 IEEE International Conference on Robotics and Automation, 2005When called upon to perform a manipulation task, through experience we place our arm in a posture which is best suited for performing that task. Posture variation is a means through which the motion and strength characteristic of the arm is made compatible with the task requirements. We propose an index for measuring the compatibility of an arm posture
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Data-Driven Motion-Force Control Scheme for Redundant Manipulators: A Kinematic Perspective
IEEE Transactions on Industrial Informatics, 2022Jialiang Fan, Long Jin, Zhengtai Xie
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A Learning Framework to inverse kinematics of high DOF redundant manipulators
Mechanism and Machine Theory, 2020R Merzouki
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RNN for Receding Horizon Control of Redundant Robot Manipulators
IEEE Transactions on Industrial Electronics, 2022Jingkun Yan, Long Jin, Zhanting Yuan
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