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A New Noise-Tolerant Obstacle Avoidance Scheme for Motion Planning of Redundant Robot Manipulators [PDF]
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
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Neural-Dynamic Based Synchronous-Optimization Scheme of Dual Redundant Robot Manipulators [PDF]
Frontiers in Neurorobotics, 2018 In order to track complex-path tasks in three dimensional space without joint-drifts, a neural-dynamic based synchronous-optimization (NDSO) scheme of dual redundant robot manipulators is proposed and developed. To do so, an acceleration-level repetitive
Zhijun Zhang, Qiongyi Zhou, Weisen Fan
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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
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Redundancy-Based Motion Planning with Task Constraints for Robot Manipulators [PDF]
SensorsFinding realistic motions for redundant manipulators is essential for complex jobs such as home care and industrial assembly. Motion planning is complex when a task requires standing upright or moving through restricted spaces.
Yi Zhang, Hongguang Wang
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IEEE Access, 2018 Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZFD) formula. This paper applies the ZFD formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first ...
Zexin Li +4 more
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A Neural Control Architecture for Joint-Drift-Free and Fault-Tolerant Redundant Robot Manipulators
IEEE Access, 2018 Fault tolerance is important for a redundant robot manipulator, which endows the robot with the capability of finishing the end-effector task even when one or some of joints’ motion fails.
Nan Zhong +3 more
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IEEE Access, 2018 For a redundant robot manipulator, the external perturbation and digital computation errors are inevitable when executing a tracking task. In this paper, a hybrid-level joint-drift-free (HL-JDF) scheme is proposed and synthesized by a novel varying ...
Zhijun Zhang, Ziyi Yan
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IEEE Access, 2019 In this paper, a new feedback-added pseudoinverse-type balanced minimization (FPBM) scheme is proposed and studied for the kinematic control of redundant robot manipulators.
Zhenhuan Wang +3 more
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Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators [PDF]
Cyborg and Bionic SystemsQuadruped manipulators can use legs to mimic legged animals for crossing unstructured environments. They can also use a bionic arm to execute manipulation tasks. The increasing demands for such robots have pushed research progress.
Aizhen Xie +6 more
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On the Effect of the End-effector Point Trajectory on the Joint ‎Jerk of the Redundant Manipulators [PDF]
Journal of Applied and Computational Mechanics, 2021 This paper is focused on investigating the joints jerk of industrial serial redundant manipulators with 6 degrees of freedom (6-DOF) under the variation of the end-effector point (EEP) trajectory in the workspace. The EEP trajectories are initially built
Xuan Bien Duong
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