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Industrial robot manipulators with redundancy: YH050 case
2011 IEEE International Conference on Robotics and Automation, 2011This paper presents an analysis of inverse kinematics solutions for YH050 which is an industrial robot manipulator developed by Hyundai Heavy Industries Co. We propose three methods: numerical approach, geometrical approach and combined approach. These approaches are addressed through theoretical explanation and experimental verification.
Jayoung Kim 0001 +4 more
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RNN for Receding Horizon Control of Redundant Robot Manipulators
IEEE Transactions on Industrial Electronics, 2022Redundant manipulators have been studied and applied in many fields. The trajectory tracking of redundant manipulators is an important topic to explore for applications. This article aims to develop a planning scheme for achieving the trajectory tracking of redundant manipulators, from the receding horizon control (RHC) perspective.
Jingkun Yan +3 more
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Neural Dynamics for Cooperative Control of Redundant Robot Manipulators
IEEE Transactions on Industrial Informatics, 2018In this paper, a neural-dynamic distributed scheme is proposed for the cooperative control of multiple redundant manipulators with limited communications. It is guaranteed that, with the communication network being connected, all manipulators can jointly reach the same desired motion.
Shuai Li, Shuai Li, Xin Luo
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On the control of redundant robotic manipulators
Proceedings. ICCON IEEE International Conference on Control and Applications, 2005A robotic manipulator is redundant when there are more degrees of freedom in the joints than in the operational space. Redundant manipulators can track a given path for the end-effector by an infinite number of different joint space paths. Most controlling algorithms exploit the redundancy to apply additional constraits such as dynamical optimization ...
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Redundancy resolution of robotic manipulators with neural computation
IEEE Transactions on Industrial Electronics, 1999This letter presents a neural-network-based computational scheme for redundancy resolution of manipulators. The Tank-Hopfield (TH) network is adopted for pseudoinverse and inverse kinematics calculations and it can provide joint velocity and joint acceleration solutions within a time frame of the order of hundreds of nanoseconds.
Han Ding 0001, S. K. Tso
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Whole arm grasping control for redundant robot manipulators
2006 American Control Conference, 2005An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is developed. A joint space controller which provides asymptotic
David Braganza +3 more
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Joint velocity uniformity in redundant robot manipulators
Robotica, 1990SUMMARYA redundant robot manipulator has several certain or expected advantages over a nonredundant one. It is expected, among other capabilities, that the joints vary with constant velocities during the execution of those tasks which in a nonredundant manipulator require variable joint velocities.
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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. According to the proposed method, the
Yoshihiko Nakamura, Hideo Hanafusa
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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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Adaptive Control of Redundant Robot Manipulators With Sub-Task Objectives
, 2008 In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion
Enver Tatlicioğlu +2 more
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