Neural network-based construction of inverse kinematics model for serial redundant manipulators
Sign Up to like & getrecommendations! Published in 2019 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-019-00552-y
Abstract: Solving the inverse kinematics of redundant manipulators is difficult, because knowledge of the manipulators and their evaluation functions is required. To solve this problem, we propose a novel method of enabling a neural network model… read more here.
Keywords: network based; inverse kinematics; kinematics; neural network ... See more keywords
Passivity-based variable impedance control for redundant manipulators
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2692
Abstract: Abstract Kinematic redundancy significantly improves the dexterity and flexibility of robotic manipulators. The redundant degrees of freedom can be exploited to fulfill additional tasks that can be executed without disturbing the primary task. In this… read more here.
Keywords: control; based variable; passivity based; impedance ... See more keywords
Terminal computing for Sylvester equations solving with application to intelligent control of redundant manipulators
Sign Up to like & getrecommendations! Published in 2019 at "Neurocomputing"
DOI: 10.1016/j.neucom.2019.01.024
Abstract: Abstract Sylvester matrix equations are widely used in many engineering fields. When referred to the time-varying Sylvester, the computational time increases sharply because of the heavy burden calculations for not satisfying the computational requirement. Recently,… read more here.
Keywords: time varying; time; sylvester; sylvester equations ... See more keywords
Inverse kinematics of redundant manipulators with guaranteed performance
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
DOI: 10.1017/s026357472100045x
Abstract: Abstract In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied… read more here.
Keywords: performance; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords
Robust adaptive multi-task tracking control of redundant manipulators with dynamic and kinematic uncertainties and unknown disturbances
Sign Up to like & getrecommendations! Published in 2017 at "Advanced Robotics"
DOI: 10.1080/01691864.2016.1277553
Abstract: Abstract In this paper, a novel adaptive multi-priority controller for redundant manipulators is proposed to accomplish the multi-task tracking when kinematic/dynamic uncertainties and unknown disturbances exist. Prioritized redundancy resolution in kinematic level is incorporated into… read more here.
Keywords: multi task; multi; task; task tracking ... See more keywords
Cooperative Kinematic Control for Multiple Redundant Manipulators Under Partially Known Information Using Recurrent Neural Network
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2974248
Abstract: In this study, we investigate the problem of cooperative kinematic control for multiple redundant manipulators under partially known information using recurrent neural network (RNN). The communication among manipulators is modeled as a graph topology network… read more here.
Keywords: kinematic control; partially known; topology; redundant manipulators ... See more keywords
Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3013879
Abstract: Redundant manipulators are usually required to perform tasks in the operational space, but collision-free path planning is computed in the configuration space. Limiting the deviation with respect to the collision-free configuration-space trajectory may allow the… read more here.
Keywords: manipulators dynamic; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords
Hyper-Redundant Manipulators for Operations in Confined Space: Typical Applications, Key Technologies, and Grand Challenges
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Aerospace and Electronic Systems"
DOI: 10.1109/taes.2022.3217746
Abstract: In this article, we review the state of the art in hyper-redundant manipulators for applications in confined space such as on-orbit services. With their multiple degrees of freedom and slender links, hyper-redundant manipulators can offer… read more here.
Keywords: applications key; hyper redundant; typical applications; redundant manipulators ... See more keywords
A Cerebellum-Inspired Network Model and Learning Approaches for Solving Kinematic Tracking Control of Redundant Manipulators
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Cognitive and Developmental Systems"
DOI: 10.1109/tcds.2022.3149622
Abstract: Tracking control of redundant manipulators is always a basic and important issue in robotics. Existing studies have indicated that the pivotal region of the brain associated with human motion control is the cerebellum. This motivates… read more here.
Keywords: cerebellum inspired; redundant manipulators; tracking control; model ... See more keywords
A Data-Driven Cyclic-Motion Generation Scheme for Kinematic Control of Redundant Manipulators
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2019.2963017
Abstract: Redundant manipulators are no doubt indispensable devices in industrial production. There are various works on the redundancy resolution of redundant manipulators in performing a given task with the manipulator model information known. However, it becomes… read more here.
Keywords: control; cyclic motion; redundant manipulators; control redundant ... 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