Results 11 to 20 of about 584,886 (284)
On null-space control of kinematically redundant robot manipulators
2016 European Control Conference (ECC), 2016 In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring
Kamil Cetin +2 more
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Variable structure control of robot manipulators (the example of the SPRINTA) [PDF]
, 2000 This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University, 12/01/2000.The subject of this thesis is the design and practical application of a model-based controller with variable structure control (VSC).
Nigrowsky, Pierre
core +7 more sources
On the Modelling of Tethered Mobile Robots as Redundant Manipulators [PDF]
Robotics, 2021 Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered as a variable length link, using a prismatic joint. Thus, the TMRs problem is decoupled into two parallel
Caruso, Matteo +2 more
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A Lagrangian network for kinematic control of redundant robot manipulators
IEEE Transactions on Neural Networks, 1999 A recurrent neural network, called the Lagrangian network, is presented for the kinematic control of redundant robot manipulators. The optimal redundancy resolution is determined by the Lagrangian network through real-time solution to the inverse kinematics problem formulated as a quadratic optimization problem.
Jun Wang 0002, Qingni Hu, Danchi Jiang
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Optimal Design of Planar Paraller Manipulators 3 RRR Through Lower Energy Consumption
, 2009 Organised by: Cranfield UniversityIn most existing studies, the solutions of planar parallel manipulators are restricted to a feasible region of solution. This research provides an optimal solution in link dimension of planar parallel manipulators to a
Ledezma-Rubio, Y. A. +1 more
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IEEE Access, 2020 Improving robot performance while simultaneously ensuring compliance and human safety has been appealing for a long time and remains a challenge. To this end, we propose a new approach for kinematic control of redundant manipulators to deal with multiple
Le Fu, Jie Zhao
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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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Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot [PDF]
, 2010 The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator.
Willigenburg, L.G., van +8 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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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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