Results 11 to 20 of about 10,203 (297)
A general method for the manipulability analysis of serial robot manipulators
International Journal of Advanced Robotic Systems, 2023 Manipulability quantification and evaluation of robot manipulators plays an important role in robotic mechanism design, motion planning, and control. In this article, a general methodology of using manipulability polytopes to characterize the manipulator’
Zhihong Zou
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Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques [PDF]
Archive of Mechanical Engineering, 2022 A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and ...
Kacper Mikołajczyk +2 more
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Dynamic Control of Kinematically Redundant Robotic Manipulators [PDF]
Modeling, Identification and Control: A Norwegian Research Bulletin, 1987 Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics.
Erling Lunde +2 more
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A hyper-redundant manipulator [PDF]
, 1994 “Hyper-redundant” manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform ...
Burdick, Joel W., Chirikjian, Gregory S.
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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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Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance
Machines, 2021 This paper presents a framework for the motion planning and control of redundant manipulators with the added task of collision avoidance. The algorithms that were previously studied and tested by the authors for planar cases are here extended to full ...
Giacomo Palmieri, Cecilia Scoccia
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Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators [PDF]
, 2011 redundant ...
Abdi +12 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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A Fibonacci control system with application to hyper-redundant manipulators [PDF]
, 2015 We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases.
Lai, Anna Chiara +2 more
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IEEE Access, 2020 In this study, we investigate the problem of cooperative kinematic control for multiple redundant manipulators under partially known information using recurrent neural network (RNN).
Xiaoxiao Li +4 more
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