Results 41 to 50 of about 90,693 (225)
International Journal of Advanced Robotic SystemsTo elucidate the dynamic coupling mechanism involved in multipoint/arbitrary point contact during human–robot interactions with redundant manipulators, we introduce a compliant control strategy that adapts to variable parameters.
Genliang Xiong +7 more
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Noise-Suppressing Newton Algorithm for Kinematic Control of Robots
IEEE AccessIn this paper, armed with the integral control method, a new noise-suppressing Newton (NSN) algorithm is proposed for the redundancy resolution of redundant robot manipulators efficiently.
Xiuchun Xiao +4 more
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Numerical Quantification of Controllability in the Null Space for Redundant Manipulators
Applied Sciences, 2021 Redundant motion, which is possible when robotic manipulators are over-actuated, can be used to control robot arms for a wide range of tasks. One of the best known methods for controlling redundancy is the null space projection, which assigns a priority ...
Seonwoo Kim, Seongseop Yun, Dongjun Shin
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International Journal of Advanced Robotic Systems, 2012 The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. The trajectory planning
Mahmoud Gouasmi +3 more
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Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators
IEEE Access, 2019 Human-like behavior has emerged in the robotics area for improving the quality of Human-Robot Interaction (HRI). For the human-like behavior imitation, the kinematic mapping between a human arm and robot manipulator is one of the popular solutions.
Hang Su +5 more
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Bio-inspired kinematical control of redundant robotic manipulators [PDF]
Assembly Automation, 2016 Purpose This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach. Design/methodology/approach A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks ...
Leylavi Shoushtari, Ali +2 more
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IEEE AccessIn confined and hazardous environments where human access is severely limited, hyper-redundant manipulators play a crucial role in preserving operator safety and mitigating operational risks. Their numerous degrees of freedom and compact design make them
Ludovica Capodivento +3 more
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On null-space control of kinematically redundant robot manipulators
2016 European Control Conference (ECC), 2016 In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce a sub-task controller that will ensure the use of the extra degrees of freedom for possible control purposes while still ensuring
Cetin, Kamil +2 more
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Revista Facultad de Ingeniería Universidad de Antioquia, 2016 The robots are electromechanical systems that need Mechatronic approach before manufacturing to reduce the development cost. In this paper, the Modelling of the PRRP (Prismatic Revolute Revolute Prismatic) configuration redundant SCARA robot with a Multi
Saravana Mohan Mariappan +1 more
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Safe Robotic Grasping: Minimum Impact-Force Grasp Selection
, 2017 This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory.
E., Amir M. Ghalamzan +2 more
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