On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators
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DOI: 10.1017/s026357471800005x
Abstract: SUMMARY Novel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3PRRR manipulator, is experimentally verified.… read more here.
Keywords: planar; redundancy resolution; energy consumption; energy ... See more keywords
Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics
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DOI: 10.1017/s0263574721000941
Abstract: Abstract The multi-arm robotic systems consisting of redundant robots are able to conduct more complex and coordinated tasks, such as manipulating large or heavy objects. The challenges of the motion planning and control for such… read more here.
Keywords: redundant robots; kinematics; redundancy resolution; motion ... See more keywords
A novel QP-based kinematic redundancy resolution method with joint constraints satisfaction
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DOI: 10.1109/access.2022.3167403
Abstract: Kinematically redundant manipulators are advantageous for their increased dexterity and ability to fulfill some secondary requirements along with their primary task to follow the prescribed trajectory. The redundancy results in a non-trivial inverse kinematics problem… read more here.
Keywords: redundancy; joint constraints; constraints satisfaction; redundancy resolution ... See more keywords
Recurrent-Neural-Network-Based Velocity-Level Redundancy Resolution for Manipulators Subject to a Joint Acceleration Limit
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2018.2851960
Abstract: For the safe operation of redundant manipulators, physical constraints such as the joint angle, joint velocity, and joint acceleration limits should be taken into account when designing redundancy resolution schemes. Velocity-level redundancy resolution schemes are… read more here.
Keywords: velocity level; redundancy resolution; velocity; level redundancy ... See more keywords
A new redundancy resolution for underwater vehicle–manipulator system considering payload
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881417733934
Abstract: For the motion coordination problem between the underwater vehicle and manipulator of the underwater vehicle–manipulator system, a new redundancy resolution method is proposed and investigated. The proposed method mainly has two parts: a fuzzy logic… read more here.
Keywords: vehicle manipulator; redundancy resolution; manipulator system; underwater vehicle ... See more keywords