A hybrid CHAOS-PSO algorithm for dimensional synthesis of a redundant manipulator based on tracking trajectories without or with singularities
Sign Up to like & getrecommendations! Published in 2018 at "Production Engineering"
DOI: 10.1007/s11740-018-0837-9
Abstract: The paper presents a novel hybrid CHAOS-PSO algorithm for dimensional syntheses of redundant manipulators while not following common design principles of arm length or arm length ratio of a human in previous literatures. More specifically,… read more here.
Keywords: chaos pso; redundant manipulator; pso; hybrid chaos ... See more keywords
A Discrete Model-Free Scheme for Fault-Tolerant Tracking Control of Redundant Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2022.3149919
Abstract: Fault tolerance is a critical requirement for robust motion control of redundant robotic manipulators. This article aims to endow the redundant manipulator with the capability to achieve the required path of end-effector in the condition… read more here.
Keywords: redundant manipulator; control; fault; scheme ... See more keywords