Results 21 to 30 of about 3,362 (301)
Generalized Jacobian analysis of lower mobility manipulators [PDF]
, 2011 Mainly drawing on screw theory and linear algebra, this paper presents a general approach for Jacobian analysis of lower mobility manipulators. Given the definitions of twist/wrench spaces and their subspaces of the end-effector, the underlying ...
Huang, Tian +5 more
core +1 more source
Acceleration-Level Obstacle Avoidance of Redundant Manipulators
IEEE Access, 2019 Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented.
Dongsheng Guo +2 more
doaj +1 more source
Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi
Revista Iberoamericana de Automática e Informática Industrial RIAI, 2018 This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem.
Isiah Zaplana +2 more
doaj +1 more source
A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators
Frontiers in Neurorobotics, 2018 Avoiding obstacle(s) is a challenging issue in the research of redundant robot manipulators. In addition, noise from truncation, rounding, and model uncertainty is an important factor that affects greatly the obstacle avoidance scheme.
Dongsheng Guo +4 more
doaj +1 more source
International Journal of Advanced Robotic Systems, 2022 Redundant manipulators are flexible enough to adapt to complex environments, but their controller is also required to be specific for their extra degrees of freedom.
Yue Lin +4 more
doaj +1 more source
Kinematic directional index for the performance of redundant manipulators [PDF]
, 2023 Performance indexes are a powerful tool to evaluate the behavior of industrial manipulators throughout their workspace and improve their performance.
Giovanni Boschetti +3 more
core +1 more source
IEEE Access, 2019 In this paper, to remedy the joint-angle drift problem of redundant manipulators at the acceleration level, a multi-criteria optimization motion planning (MCOMP) scheme is proposed and investigated for redundant manipulators.
Zhaoli Jia +5 more
doaj +1 more source
Recurrent Neural Network for State Adjustment of Redundant Manipulators
IEEE Access, 2020 To make joints of a redundant manipulator moving automatically to a target state, a state-adjustment (SA) scheme is studied and modified in this paper.
Long Jin, Li He, Zhiguan Huang, Jun Wang
doaj +1 more source
Robotics, 2021 Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators.
Maurizio Ruggiu, Andreas Müller
doaj +1 more source
Avoidance Manipulability for Redundant Manipulators.
Journal of the Robotics Society of Japan, 1999 This 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 proposed avoidance matrix, avoidance manipulability ellipsoid and avoidance manipulability measure which are ...
Minani, Mamoru +2 more
openaire +2 more sources