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An inverse kinematic solution for kinematically redundant robot manipulators
Journal of Robotic Systems, 1984AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence,
Se-Young Oh, David E. Orin, Michael Bach
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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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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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Path tracking with the links of a planar hyper‐ redundant robotic manipulator
Journal of Robotic Systems, 1995AbstractA technique for path tracking with the links of a planar hyper‐redundant robotic manipulator is presented. It is a joint‐space trajectory planning method that can be used for obstacle avoidance by ensuring that the links of the manipulator closely follow a collision‐free path planned for the tool.
Robert J. Schilling +3 more
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Efficient Hitting with different links of a Redundant Robotic Manipulator
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion of a redundant robot arm by allowing it to come in contact with the environment with the appropriate link according to the requirements of the hitting task.
Khurana, Harshit, Billard, Aude
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Robot cartography: a topology-driven discretization for redundant manipulators
Proceedings of IEEE International Conference on Robotics and Automation, 2002This paper addresses manipulator redundancy from a global perspective, aiming at the kinematic control through the exploration of self-motion topology. The methodology is based on collecting information about the structure of the kinematic map with the use of topological tools, providing an overall view of the configuration space and its relationship ...
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A zonotope-based approach for manipulability study of redundant robot limbs
2011 11th IEEE-RAS International Conference on Humanoid Robots, 2011Kinematic efficiency of robot limbs can be analyzed by means of the manipulability concept defined by Yoshikawa. However, when it is applied to redundant serial chains, that are the most common case in humanoid robotics, Yoshikawa's manipulability measure is not able to take into account the joint velocity range of each robot joint.
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Robust Neural Dynamics Method for Redundant Robot Manipulator Control With Physical Constraints
IEEE Transactions on Industrial Informatics, 2023Ping Li, Edmond Qwu, Limin Zhu
exaly