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Modelling and control of a modular, redundant robot manipulator
1990A new type of robot manipulator which possesses rigidity capabilities and a large workspace is presented. This robot is composed of several modules which consist of elementary manipulators with the parallel structure of the “Stewart Platform”. However, the structure of our new robot manipulator raises modelling difficulties.
Sylvie Charentus, Marc Renaud
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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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Nonlinear tracking control of kinematically redundant robot manipulators
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000In 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 ...
Erkan Zergeroglu +3 more
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Adaptive operational space control of redundant robot manipulators
Proceedings of the 2011 American Control Conference, 2011The 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.
Keng Peng Tee, Rui Yan
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Optimal conditions for inverse kinematics of a robot manipulator with redundancy
Robotica, 1995SummaryThe algorithms of inverse kinematics based on optimality constraints have some problems because those are based only on necessary conditions for optimality. One of the problems is a switching problem, i.e., an undesirable configuration change from a maximum value of a performance measure to a minimum value may occur and cause an inverse ...
Cho, Dong Kwon +2 more
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Dynamic control of flexible, kinematically redundant robot manipulators
IEEE Transactions on Robotics and Automation, 1992It is shown how choosing the self-motion inherent in redundant arms is crucially important when flexibility is present. The self-motion, by exciting or damping the flexural modes, alters the dynamic response of the arms. Kinematic redundancy can also be used in many cases to help damp out vibrations.
Luong A. Nguyen +2 more
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The Kinematic Sensitivities of Redundant Robotic Manipulators
1996The kinematic sensitivity of a manipulator is the effect that a ‘small’ change in the required task produces on the posture of the manipulator. Redundant manipulators being capable of performing both a primary and a secondary task admit, correspondingly, two kinematic sensitivities.
J. Angeles +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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Neural network architectures for redundancy resolution of robotic manipulators
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002This paper 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 hundred nanoseconds.
Han Ding 0001, S. K. Tso
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Trilateral teleoperation control of kinematically redundant robotic manipulators
The International Journal of Robotics Research, 2011Teleoperation control of kinematically redundant robots requires a strategy for resolving their redundancy. A trilateral two-master/one-slave control approach is proposed for delay-free applications in which the first master controls a primary task control frame, e.g.
Pawel Malysz, Shahin Sirouspour
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