New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators
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DOI: 10.1017/s0263574721001119
Abstract: Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme… read more here.
Keywords: robotic manipulators; redundant robotic; scheme; repetitive motion ... See more keywords
Comparison of different sample-based motion planning methods in redundant robotic manipulators
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s026357472200008x
Abstract: The main objective of a motion planning algorithm is to find a collision-free path in the workspace of a robotic manipulator in a point-to-point motion. Among the various motion planning methods available, sample-based motion planning… read more here.
Keywords: sample based; motion; based motion; planning methods ... See more keywords
Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs
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DOI: 10.1080/01691864.2017.1285721
Abstract: Graphical Abstract Abstract This work introduces a novel formula for calculating the right pseudoinverse, proposed for a class of kinematically redundant robotic limbs with one degree of redundancy. The formula is derived from the Singularity-Consistent… read more here.
Keywords: robotic limbs; formula; singular path; redundant robotic ... See more keywords
Optimal joint motion for complicated welding geometry by a redundant robotic system
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DOI: 10.1080/0305215x.2019.1630400
Abstract: ABSTRACT The main objective of this article is to develop a redundancy-resolution algorithm to optimize the joint motion of a redundant robotic welding system. First, the joint limit avoidance (JLA) and singularity avoidance (SGA) optimizations… read more here.
Keywords: redundant robotic; system; joint motion; geometry ... See more keywords