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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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Redundancy in Robot Manipulators and Multi-Robot Systems
2013The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial.
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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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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 ...
Juan Manuel Ahuactzin +2 more
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Whole arm grasping control for redundant robot manipulators
2006 American Control Conference, 2006An 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
D. Braganza +3 more
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Genetic algorithm based redundancy resolution of robot manipulators
Proceedings of 3rd International Symposium on Uncertainty Modeling and Analysis and Annual Conference of the North American Fuzzy Information Processing Society, 2002This paper presents a genetic algorithm based approach to redundancy resolution of robot manipulators using self-motion topology knowledge. The genetic algorithm presented can work under joint limits and produces end-effector positions with negligible error. Any solution determined by the genetic algorithm is physically realizable, as demonstrated on a
K.K. Aydin, E. Kocaoglan
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Optimal Configurations for Flexible Redundant Robot Manipulators
Volume 1B: 25th Biennial Mechanisms Conference, 1998Abstract The significant effect of initial configurations of flexible redundant robot manipulators is analyzed in the paper. It is found that the endpoint vibrations of a flexible redundant manipulator are quite different while performing the same endpoint trajectory starting from different initial configurations. Thus an optimal initial
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Task-Priority Based Redundancy Control of Robot Manipulators
The International Journal of Robotics Research, 1987In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators. A required task is divided into subtasks according to the order of priority.
Yoshihiko Nakamura +2 more
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Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators
IEEE/ASME Transactions on Mechatronics, 2004In this short paper, 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 note that the control strategy does not require the computation of positional inverse kinematics and
E. Zergeroglu +3 more
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Construction of a Hyper Redundant Robotic Tentacle Manipulator
2012Abstract : This report presents the design and development of a robotic tentacle manipulator research platform as a tool to explore new methods of enhancing the capabilities of remotely operated manipulators, autonomous manipulation, and autonomous search.
Derek Scherer, Miles C. Pekala
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