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
A Framework of Robot Manipulability Learning and Control and Its Application in Telerobotics
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DOI: 10.1109/tfuzz.2023.3297665
Abstract: Manipulability ellipsoid on the Riemannian manifold serves as an effective criterion to analyze, measure, and control the dexterous performance of robots. For asymmetric bilateral telerobotics, due to the different structures of leader and follower robots,… read more here.
Keywords: manipulability; operator; regulate manipulability; framework ... 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
An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2024.3365993
Abstract: Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity… read more here.
Keywords: manipulability; tool; optimal control; applied impact ... See more keywords