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Manipulability Analysis of Redundant Robotic Manipulator
Proceedings of the 21st International Conference on Computer Systems and Technologies, 2020The increased number of applications of the robotic systems in the human life leads to the need of assigning more complex tasks to such systems. The redundancy of the robotic configuration increases performance and precision of the execution of the assigned tasks.
Lyubomira Miteva +3 more
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Optimal Redundancy Control of Robot Manipulators
The International Journal of Robotics Research, 1987This paper discusses the optimal redundancy control problem of robot manipulators. The redundancy control problem has mostly been discussed in the framework of instantaneously optimal control. In this paper, the globally optimal redun dancy control problem is solved strictly by using Pontryagin's maximum principle.
Yoshihiko Nakamura, Hideo Hanafusa
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Reconfiguration Manipulability Analyses for Redundant Robots
Journal of Mechanisms and Robotics, 2013This paper is concerned with a concept of reconfiguration manipulability inspired from manipulability. The reconfiguration manipulability represents a shape-changeability of each intermediate link when a prior end-effector task is given. Through analyses of reconfiguration matrices, we propose a method to judge whether the plural shape-changing ...
Tongxiao Zhang +3 more
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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 ...
I.D. Walker, S.I. Marcus
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SHARED FORCE/POSITION CONTROL FOR REDUNDANT ROBOT MANIPULATORS
IFAC Proceedings Volumes, 1992Abstract The design and use of redundant robot manipulators has presented numerous challenging control problems. The two most important are the position and force control of the end effector. Solutions to both of these control problems are needed so that robot manipulators can be used in their most flexible configurations.
R. Kline-Schoder +2 more
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Dynamic reconfiguration manipulability analysis of redundant robot
2013 IEEE International Conference on Mechatronics and Automation, 2013In this paper, we propose a new index inspired by dynamic manipulability for redundent robot proposed by Yoshikawa to estimate dynamic ability to change configuration by using remaining redundancy, while prior task is controlled, for example, end-effectors being controlled to a desired trajectory in task space. Several indexes have been proposed so far
Taoran Feng +3 more
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Resolving kinematic redundancy for robotic manipulators
[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society, 2002The development of steering laws for robotic manipulators is considered. The generalized inverse is discussed in terms of its benefits and shortcomings. A design method which yields cyclic behavior is examined, and specific equations are developed for a planar three-link robotic manipulator. This work has reached the point where various expressions for
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Dynamical Resolution of Redundancy for Robot Manipulators
Journal of Mechanical Design, 1993A large class of work in the robot manipulator literature deals with the kinematical resolution of redundancy based on the pseudo-inverse of the manipulator Jacobian. In this paper an alternative dynamical approach to redundancy resolution is developed which utilizes the mapping between the actuator torques and the acceleration of the end-effector, at ...
Ghosal, A, Desa, S
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