Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
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
Kinematic Control of Redundant Robots With Online Handling of Variable Generalized Hard Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3190832
Abstract: We present a generalized version of the Saturation in the Null Space (SNS) algorithm for task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian… read more here.
Keywords: control redundant; robots online; kinematic control; online handling ... See more keywords
Predefined-Time Convergent Neural Solution to Cyclical Motion Planning of Redundant Robots Under Physical Constraints
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DOI: 10.1109/tie.2019.2960754
Abstract: In industrial activities, robot arms are usually requested to perform repetitive tasks. As a special recurrent neural network, zeroing neural network (ZNN) has been successfully applied to cyclical motion planning (CMP) of redundant robots. However,… read more here.
Keywords: redundant robots; cyclical motion; motion planning; znn model ... See more keywords
New Jerk-Level Configuration Adjustment Schemes Applied to Constrained Redundant Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Informatics"
DOI: 10.1109/tii.2021.3098499
Abstract: In this article, the new jerk-level configuration adjustment (JLCA) schemes are proposed to achieve the configuration adjustment of constrained redundant robots. Specifically, by applying the zeroing neurodynamics design rule three times, the new JLCA performance… read more here.
Keywords: configuration adjustment; arm; redundant robots; configuration ... See more keywords