A Decade of Inverse Kinematics Methods for Serial Manipulators: A Systematic Review
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DOI: 10.1002/rob.70014
Abstract: Serial robotic manipulators find applications across diverse sectors such as industries, military, medical, space exploration, and underwater operations, where precision, efficiency, and safety are paramount. However, achieving effective control performance necessitates the effective resolution of… read more here.
Keywords: inverse kinematics; review; kinematics; methods serial ... See more keywords
A synthesis method of spatial over-constrained mechanisms based on kinematics of serial manipulators
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DOI: 10.1017/s0263574722000868
Abstract: Abstract This paper proposes a modular method based on the kinematics of serial manipulators to synthesize over-constrained mechanisms. Because the PPP manipulator has an unlimited work space, its end-effector can be constrained to trace a… read more here.
Keywords: kinematics; constrained mechanisms; manipulator; serial manipulators ... See more keywords
A Framework for Data Driven Dynamic Modeling of Serial Manipulators
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DOI: 10.1109/access.2022.3223182
Abstract: Robot dynamic modeling and parameter identification are essential for many analyses. High-fidelity multi-body dynamics simulators can model the robot’s dynamic behavior, but they can’t identify the robot’s non-linear dynamic model needed for controller design. This… read more here.
Keywords: system; dynamic modeling; serial manipulators; framework ... See more keywords
Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming
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DOI: 10.1109/lcsys.2021.3086059
Abstract: The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is… read more here.
Keywords: robot programming; serial manipulators; manipulators robot; haptic rendering ... See more keywords
Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators
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DOI: 10.3390/robotics12030075
Abstract: The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save… read more here.
Keywords: method based; control; experimental studies; serial manipulators ... See more keywords