Results 11 to 20 of about 1,578 (257)
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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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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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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A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators [PDF]
, 2011 This paper presents a general and systematic approach to formulate the dimensionally homogeneous Jacobian, which is an important issue for the dexterity evaluation and dimensional synthesis of f-degrees-of-freedom (DOF) (f ≤ 6) parallel manipulators ...
Huang, Tian +5 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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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
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An Approach to the Dynamics and Control of Uncertain Robot Manipulators
Algorithms, 2019 In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system.
Xiaohui Yang +5 more
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IEEE Access, 2020 This paper presents an angular acceleration planning for joint configuration spaces of vision-based kinematically redundant robot manipulators to achieve real-time tracking tasks in dynamic environment.
Hui Zhang +4 more
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