Effects of the weighting matrix on dynamic manipulability of robots
Sign Up to like & getrecommendations! Published in 2019 at "Autonomous Robots"
DOI: 10.1007/s10514-018-09819-y
Abstract: Dynamic manipulability of robots is a well-known tool to analyze, measure and predict a robot’s performance in executing different tasks. This tool provides a graphical representation and a set of metrics as outcomes of a… read more here.
Keywords: manipulability; matrix dynamic; dynamic manipulability; robots effects ... See more keywords
Design, modeling, and manipulability evaluation of a novel four-DOF parallel gripper for dexterous in-hand manipulation
Sign Up to like & getrecommendations! Published in 2021 at "Journal of Mechanical Science and Technology"
DOI: 10.1007/s12206-021-0636-7
Abstract: This study presents a novel four-degrees-of-freedom parallel gripper with potential application to industrial automation. The gripper adopts a parallel grasping mode on objects and can independently complete in-plane horizontal and vertical motions and in-hand twisting… read more here.
Keywords: novel four; hand manipulation; manipulability; hand ... See more keywords
Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2674624
Abstract: For solving the singularity problem arising in the control of manipulators, an efficient way is to maximize its manipulability. However, it is challenging to optimize manipulability effectively because it is a nonconvex function to the… read more here.
Keywords: manipulability; optimization; optimization redundant; manipulability optimization ... See more keywords
Perturbed Manipulability Optimization in a Distributed Network of Redundant Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2020.3007099
Abstract: For avoiding a singularity arising in the cooperative control of multiple redundant robot manipulators, an efficient way is to maximize the manipulability. In this article, by making progress along this direction, a distributed manipulability optimization… read more here.
Keywords: network redundant; manipulability optimization; manipulability; distributed network ... See more keywords
RNN for Perturbed Manipulability Optimization of Manipulators Based on a Distributed Scheme: A Game-Theoretic Perspective
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2020.2963998
Abstract: In order to leverage the unique advantages of redundant manipulators, avoiding the singularity during motion planning and control should be considered as a fundamental issue to handle. In this article, a distributed scheme is proposed… read more here.
Keywords: neural network; manipulability; redundant manipulators; distributed scheme ... See more keywords