Results 251 to 260 of about 10,203 (297)

Industrial robot manipulators with redundancy: YH050 case

2011 IEEE International Conference on Robotics and Automation, 2011
This 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.
null Jayoung Kim, null Jihong Lee, null Dong-Hyeok Kim, null Hyun-Kyu Lim, null Sung-Rak Kim   +4 more
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Binary hyper-redundant robotic manipulator concept

2004 IEEE Region 10 Conference TENCON 2004., 2004
Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and ...
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Control of flexible, kinematically redundant robot manipulators

SPIE Proceedings, 1991
The use of kinematic redundancy in control algorithms to avoid singularities evade obstacles minimize joint torques manipulator kinetic energy end effector contact forces etc. . . has been among the most active research topics in the field of robotics in the past few years.
Luong A. Nguyen, Ian D. Walker, Rui J. P. de Figueiredo   +2 more
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Redundancy Trajectory Generation for Biped Robot Manipulators

Transactions of the Korean Society of Mechanical Engineers A, 2009
A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a ...
Je-Sung Yeon, Jong-Hyeon Park
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Kinematic control of redundant robot manipulators: A tutorial

Journal of Intelligent and Robotic Systems, 1990
In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization ...
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On the control of redundant robotic manipulators

Proceedings. ICCON IEEE International Conference on Control and Applications, 2005
A 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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ON THE OPTIMAL PATH GENERATION FOR REDUNDANT ROBOT MANIPULATORS

IFAC Proceedings Volumes, 1988
Abstract 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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Nonlinear tracking control of kinematically redundant robot manipulators

Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000
In this study, we consider the nonlinear control of kinematically redundant robot manipulators. Specifically, we use a Lyapunov technique to design a model based nonlinear controller that achieves exponential link position and subtask tracking. We then illustrate how the model based controller can be redesigned as an adaptive full-state feedback ...
E. Zergeroglu, D.M. Dawson, I. Walker, A. Behal   +3 more
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Adaptive operational space control of redundant robot manipulators

Proceedings of the 2011 American Control Conference, 2011
The operation space formulation requires model certainty to completely decouple the null space and operational space dynamics. In this paper, we present an adaptive operational space control for redundant robots that does not require exact knowledge of the robot inertial parameters.
null Keng Peng Tee, null Rui Yan
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Manipulability and redundancy control of robotic mechanisms

Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005
The 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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