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   Articles with "redundant robotic" as a keyword



A passive convex optimal control algorithm for teleoperating a redundant robotic arm in minimally invasive surgery

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recommendations! Published in 2024 at "International Journal of Robust and Nonlinear Control"

DOI: 10.1002/rnc.7613

Abstract: In recent years, the remote center of motion (RCM) constraint has moved from purely mechanical to software implementation, enabling the use of serial manipulators in robotic‐assisted minimal invasive surgery. However, ensuring safety with software‐based RCM… read more here.

Keywords: control algorithm; redundant robotic; control; invasive surgery ... See more keywords

New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators

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recommendations! Published in 2021 at "Robotica"

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

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recommendations! 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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recommendations! Published in 2017 at "Advanced Robotics"

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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recommendations! Published in 2019 at "Engineering Optimization"

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