Results 21 to 30 of about 15,211 (294)

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, Josep Arnau Claret, Luis Basanez   +2 more
doaj   +1 more source

Global kinematics for manipulator planning and control [PDF]

, 1989
This paper reviews one method of global kinematic analysis, based on a manifold mapping reformulation of manipulator kinematics, which is suitable for both non-redundant and redundant serial chain manipulators.
Burdick, Joel W.
core   +1 more source

On redundant flagged manipulators [PDF]

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006
IEEE International Conference on Robotics and Automation (ICRA), 2006, Orlando (EE.UU.)
Alberich-Carramiñana, Maria, Thomas, Federico, Torras, Carme   +2 more
openaire   +2 more sources

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, Feng Xu, Laicheng Yan, Zhuoyun Nie, Hui Shao   +4 more
doaj   +1 more source

A snake-inspired path planning algorithm based on reinforcement learning and self-motion for hyper-redundant manipulators

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, Jianming Wang, Xuan Xiao, Ji Qu, Fatao Qin   +4 more
doaj   +1 more source

Acceleration-Level Multi-Criteria Optimization for Remedying Joint-Angle Drift of Redundant Manipulators on Complex Path Tracking

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, Xilong Qu, Siyuan Chen, Nan Zhong, Pengchao Zhang, Fan Ouyang   +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

Investigation of Cyclicity of Kinematic Resolution Methods for Serial and Parallel Planar Manipulators

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

Investigation on the Discretization of a Repetitive Path Planning Scheme for Redundant Robot Manipulators

IEEE Access, 2020
Repetitive path planning (RPP) plays an important role in the operation of redundant robot manipulators. In this study, we investigate a new discrete-time RPP scheme depicted in the pseudoinverse-type formulation for redundant robot manipulators.
Limin Shen, Yuanmei Wen
doaj   +1 more source

A real-time inverse kinematics solution based on joint perturbation for redundant manipulators [PDF]

Mechanical Sciences, 2021
Aiming at the problem that the calculation of the inverse kinematics solution of redundant manipulators is very time-consuming, this paper presents a real-time method based on joint perturbation and joint motion priority.
Q. Xu, Q. Zhan
doaj   +1 more source