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Subtask performance by redundancy resolution for redundant robot manipulators
IEEE Journal on Robotics and Automation, 1988The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and ...
Ian D. Walker, Steven I. Marcus
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Redundancy and non-linearity measures for robot manipulators
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002We investigate two new classes of performance measures. The first class quantifies the ability of a redundant manipulator to reconfigure itself while keeping the end-effector at a fixed position. The second measures the nonlinearity of the manipulator. We derive these measures using the differential-geometric formalism we introduced previously (1993). >
Kees van den Doel, Dinesh K. Pai
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The advantages of exploiting grasp redundancy in robotic manipulation
The 5th International Conference on Automation, Robotics and Applications, 2011In this paper we introduce the concept of grasp redundancy, as a new method for relaxing the full-constrained hand-object relationships that are normally considered in robotic manipulation. Grasp redundancy refers to the cartesian degrees of freedom (DOF) that are not fully constrained by the grasp, and, thus, can used be to perform relative hand ...
Mario Prats +2 more
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Kinematic Inversion of Robotic Manipulators in the Presence of Redundancies
The International Journal of Robotics Research, 1989A general algorithm for the solution of the inverse kinematic problem of robotic manipulators in the presence of redundan cies is presented in this article. Redundancies are handled using a constrained nonlinear least-square minimization approach in which a positive definite performance index is minimized subject to the associated kinematic closure ...
Karen Anderson, Jorge Angeles
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A singularities prevention approach for redundant robot manipulators
Proceedings., IEEE International Conference on Robotics and Automation, 2002A singularity-prevention approach is presented for redundant robot manipulators. The approach is based on establishing a local sufficiency condition that guarantees the rank preservation of the Jacobian matrix. This condition has been used directly as the constraint in the optimization problem which is formulated to obtain the optimal path of the robot
René V. Mayorga, Andrew K. C. Wong
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Perturbed Manipulability Optimization in a Distributed Network of Redundant Robots
IEEE Transactions on Industrial Electronics, 2021For avoiding a singularity arising in the cooperative control of multiple redundant robot manipulators, an efficient way is to maximize the manipulability. In this article, by making progress along this direction, a distributed manipulability optimization scheme is proposed to maximize the manipulability of redundant robot manipulators in a distributed
Long Jin 0001 +6 more
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Robot Manipulator Redundancy Resolution
2017Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulators.This book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators.
Yunong Zhang, Long Jin
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ON THE OPTIMAL PATH GENERATION FOR REDUNDANT ROBOT MANIPULATORS
IFAC Proceedings Volumes, 1988Abstract In this paper the optimal path generation of redundant robot manipulators is considered as an optimization (energy) problem. with given kinematics and subject to the robot requirements and a singularities avoidance constraint. A local and a global approach are presented for its solution.
R.V. Mayorga, A.K.C. Wong
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Manipulability and redundancy control of robotic mechanisms
Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005The concept of manipulability measure of robotic mechanisms is discussed. This is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end-effectors. Some properties of this measure are established and the best postures of various types of manipulators from the viewpoint of this measure are given.
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Manipulation Planning for Redundant Robots: A Practical Approach
The International Journal of Robotics Research, 1998An emerging paradigm in solving the classical motion- planning problem (among static obstacles) is to capture the connectivity of the configuration space using a finite (but pos sibly large) set of landmarks (or nodes) in it. In this paper, we extend this paradigm to manipulation-planning problem, where the goal is to plan the motion of a robot so that
Juan Manuel Ahuactzin +2 more
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