Relevant bibliographies by topics / Kinematic control. Redundant

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Kinematic control. Redundant'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Kinematic control. Redundant"

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Müller, Andreas. "On the terminology and geometric aspects of redundant parallel manipulators." Robotica 31, no. 1 (2012): 137–47. http://dx.doi.org/10.1017/s0263574712000173.

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SUMMARYParallel kinematics machines (PKMs) can exhibit kinematics as well as actuation redundancy. While the meaning of kinematic redundancy has been already clarified for serial manipulators, actuation redundancy, which is only possible in PKMs, is differently classified in the literature. In this paper a consistent terminology for general redundant PKM is proposed. A kinematic model is introduced with the configuration space (c-space) as central part. The notion of kinematic redundancy is recalled for PKM. C-space, output, and input singularities are distinguished. The significance of the c-
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Galicki, M. "Kinematically Optimal Robust Control of Redundant Manipulators." International Journal of Applied Mechanics and Engineering 22, no. 4 (2017): 839–65. http://dx.doi.org/10.1515/ijame-2017-0055.

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Abstract This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector
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Freitas, Gustavo M., Antonio C. Leite, and Fernando Lizarralde. "Kinematic control of constrained robotic systems." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 6 (2011): 559–72. http://dx.doi.org/10.1590/s0103-17592011000600002.

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This paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the appli
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Löfgren, Björn, and Jan Wikander. "Kinematic Control of Redundant Knuckle Booms." International Journal of Forest Engineering 20, no. 1 (2009): 22–30. http://dx.doi.org/10.1080/14942119.2009.10702572.

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Kumar, Swagat, Premkumar P., Ashish Dutta, and Laxmidhar Behera. "Visual motor control of a 7DOF redundant manipulator using redundancy preserving learning network." Robotica 28, no. 6 (2009): 795–810. http://dx.doi.org/10.1017/s026357470999049x.

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SUMMARYThis paper deals with the design and implementation of a visual kinematic control scheme for a redundant manipulator. The inverse kinematic map for a redundant manipulator is a one-to-many relation problem; i.e. for each Cartesian position, multiple joint angle vectors are associated. When this inverse kinematic relation is learnt using existing learning schemes, a single inverse kinematic solution is achieved, although the manipulator is redundant. Thus a new redundancy preserving network based on the self-organizing map (SOM) has been proposed to learn the one-to-many relation using s
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Wang, Hongxing, LianZheng Ge, Ruifeng Li, Yunfeng Gao, and Chuqing Cao. "Motion optimization of humanoid mobile robot with high redundancy." Assembly Automation 41, no. 2 (2021): 155–64. http://dx.doi.org/10.1108/aa-06-2020-0083.

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Purpose An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling. Design/methodology/approach The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two deg
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Leylavi Shoushtari, Ali, Stefano Mazzoleni, and Paolo Dario. "Bio-inspired kinematical control of redundant robotic manipulators." Assembly Automation 36, no. 2 (2016): 200–215. http://dx.doi.org/10.1108/aa-11-2015-116.

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Purpose This paper aims to propose an innovative kinematic control algorithm for redundant robotic manipulators. The algorithm takes advantage of a bio-inspired approach. Design/methodology/approach A simplified two-degree-of-freedom model is presented to handle kinematic redundancy in the x-y plane; an extension to three-dimensional tracking tasks is presented as well. A set of sample trajectories was used to evaluate the performances of the proposed algorithm. Findings The results from the simulations confirm the continuity and accuracy of generated joint profiles for given end-effector traj
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Chung, W. J., W. K. Chung, and Y. Youm. "Kinematic control of planar redundant manipulators by extended motion distribution scheme." Robotica 10, no. 3 (1992): 255–62. http://dx.doi.org/10.1017/s0263574700007980.

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SUMMARYThe kinematic control of a planar manipulator with several-degrees of redundancy has been a difficult problem because of the heavy computational burden and/or lack of appropriate techniques. The extended motion distribution scheme, which is based on decomposing a planar redundant manipulator into a series of nonredundant/redundant local arms (referred to as subarms) and distributing the motion of an end-effector to subarms at the joint velocity level, is proposed in this paper. The configuration index, which is defined as the product of minors corresponding to subarms in the Jacobian ma
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Goncalves, Vinicius Mariano, Philippe Fraisse, Andre Crosnier, and Bruno Vilhena Adorno. "Parsimonious Kinematic Control of Highly Redundant Robots." IEEE Robotics and Automation Letters 1, no. 1 (2016): 65–72. http://dx.doi.org/10.1109/lra.2015.2506259.

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Lee, Sukhan, and Rhee M. Kil. "Redundant arm kinematic control with recurrent loop." Neural Networks 7, no. 4 (1994): 643–59. http://dx.doi.org/10.1016/0893-6080(94)90042-6.

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Dissertations / Theses on the topic "Kinematic control. Redundant"

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Löfgren, Björn. "Kinematic control of redundant knuckle booms." Licentiate thesis, KTH, Machine Design, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-1731.

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<p>A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. One is based on the maximization of velocity (localoptimisation). This strategy is non-repeatable and cansometimes lead to kinematically unfavourable positions. In thesecond strategy, which is based on the maximization of staticlifting capacity (local optimisation), one of the degrees offreedom (the l
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Mashali, Mustafa. "Kinematic Control of Redundant Mobile Manipulators." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5989.

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A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine
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Mathur, Saumyendra. "Algorithms for the kinematic control of redundant manipulators." Thesis, McGill University, 1989. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=55615.

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Löfgren, Björn. "Kinematic Control of Redundant Knuckle Booms with Automatic Path Following Functions." Doctoral thesis, KTH, Mekatronik, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-11495.

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To stay competitive internationally, the Swedish forestry sector must increase its productivity by 2 to 3% annually. There are a variety of ways in which productivity can be increased. One option is to develop remote-controlled or unmanned machines, thus reducing the need for operator intervention. Another option—and one that could be achieved sooner than full automation—would be to make some functions semi-automatic. Semi-automatic operation of the knuckle boom and felling head in particular would create “mini-breaks” for the operators, thereby reducing mental and physiological stress.
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Pfeiffer, Kai. "Efficient Kinematic and Algorithmic Singularity Resolution for Multi-Contact and Multi-Level Constrained Dynamic Robot Control." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS087.

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L'introduction des derniers solveurs de moindres carrés hiérarchiques permet une résolution très rapide des problèmes de contrôle robotique à plusieurs niveaux. Cependant, il est rare que toutes ces contraintes soient parfaitement réalisables en même temps. Cela conduit à des singularités cinématiques et algorithmiques, une question qui a préoccupé la recherche de nombreux roboticiens.Avec cette thèse, nous nous appuyons sur ces connaissances déjà disponibles et introduisons une nouvelle méthode de résolution de singularité adaptée aux moindres-carrés hiérarchiques pour des structures cinémati
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Ambike, Satyajit S. "Characteristics of Spatial Human Arm Motion and the Kinematic Trajectory Tracking of Similar Serial Chains." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1325169225.

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Thomson, Travis. "Kinematic control and posture optimization of a redundantly actuated quadruped robot." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106317.

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Although legged locomotion for robots has been studied for many years, the research of wheeled-leg robotics is much more recent. Robots of this type can take advantage of the energy efficiency of wheeled locomotion while adapting to more difficult terrain with legged locomotion when necessary. The Micro Hydraulic Toolkit (MHT), developed by engineers at Defence Research and Development Canada (DRDC), is a good example of such a robot. MHT is an unmanned quadruped hybrid robot with hydraulically articulated legs and electric wheels. Investigation into the control of MHT leads to a better unders
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Altay, Alkan. "Steering Of Redundant Robotic Manipulators And Spacecraft Integrated Power And Attitude Control - Control Moment Gyroscopes." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607043/index.pdf.

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In this thesis, recently developed Blended Inverse (B-inverse) steering law is applied to two different redundant actuator systems. First, repeatability of Binverse is demonstrated on a redundant robotic manipulator. Its singularity avoidance and singularity transition performance is also demonstrated on the same actuator system. It is shown that B-inverse steering law provides singularity avoidance, singularity transition and repeatability. Second, its effectiveness is demonstrated for an Integrated Power and Attitude Control - Control Moment Gyroscope (IPAC-CMG) cluster, which can perform en
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Ruiz, Andrés Gómez. "Increasing the energy efficiency of parallel manipulators by means of kinematic redundancy and Model Predictive Control." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-17042018-111902/.

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The use of robotic manipulators in industrial applications is continuously growing. Therefore, the proposal of novel kinematic architectures for robotic manipulators can be a strategy for coping with the required performance of specific tasks. On this matter, the parallel manipulators represent an alternative to fulfill this gap. The objective of this manuscript is to prove that the energy efficiency of parallel manipulators can be increased by the use of kinematic redundancy. Due to the presence of kinematic redundancy, the number of solutions to the inverse kinematics problem become infinite
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Panchea, Adina. "Inverse optimal control for redundant systems of biological motion." Thesis, Orléans, 2015. http://www.theses.fr/2015ORLE2050/document.

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Cette thèse aborde les problèmes inverses de contrôle optimal (IOCP) pour trouver les fonctions de coûts pour lesquelles les mouvements humains sont optimaux. En supposant que les observations de mouvements humains sont parfaites, alors que le processus de commande du moteur humain est imparfait, nous proposons un algorithme de commande approximative optimale. En appliquant notre algorithme pour les observations de mouvement humaines collectées: mouvement du bras humain au cours d'une tâche de vissage industrielle, une tâche de suivi visuel d’une cible et une tâche d'initialisation de la march
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Books on the topic "Kinematic control. Redundant"

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Li, Shuai, Long Jin, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. John Wiley & Sons, Ltd, 2019. http://dx.doi.org/10.1002/9781119557005.

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Williams, Robert L. Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator II. National Aeronautics and Space Administration, Office of Management, Scientific and Technical Information Program, 1992.

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Münch, Heribert. Bewegungssynthese zur Steuerung redundanter und kooperierenden Kinematiken. C. Hanser, 1991.

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Schröder, Thomas. Entwicklung und Evaluation von Algorithmen zur zeitoptimierten Bewegungszerlegung bei kinematisch redundanten Werkzeugmaschinen. Verl. Wiss. Scripten, 2007.

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D, Zuck D., and United States. National Aeronautics and Space Administration., eds. Robust adaptive kinematic control of redundant robots. National Aeronautics and Space Administration, 1992.

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Robust adaptive kinematic control of redundant robots. National Aeronautics and Space Administration, 1992.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Jin, Long, Shuai Li, and Mohammed Aquil Mirza. Kinematic Control of Redundant Robot Arms Using Neural Networks. Wiley & Sons, Incorporated, John, 2019.

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Zhen-Lei, Zhou, and United States. National Aeronautics and Space Administration., eds. Advamced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator. Catholic University of America, Dept. of Electrical Engineering, 1990.

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United States. National Aeronautics and Space Administration. Scientific and Technical Information Program., ed. Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator II. National Aeronautics and Space Administration, Office of Management, Scientific and Technical Information Program, 1992.

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Book chapters on the topic "Kinematic control. Redundant"

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Galicki, Mirosław. "Generalized Kinematic Control of Redundant Manipulators." In Lecture Notes in Control and Information Sciences. Springer London, 2007. http://dx.doi.org/10.1007/978-1-84628-974-3_19.

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Zhang, Yinyan, Shuai Li, and Xuefeng Zhou. "Adaptive Kinematic Control of Redundant Manipulators." In Deep Reinforcement Learning with Guaranteed Performance. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-33384-3_6.

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Kock, Sönke, and Walter Schumacher. "Redundant Parallel Kinematic Structures and Their Control." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_9.

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Anthimopoulou, M., and N. Aspragathos. "Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles." In Advances in Robot Kinematics. Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_43.

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Morasso, P., F. A. Mussa Ivaldi, and R. Zaccaria. "Redundant Robotic Manipulators I: Regularizing by Mechanical Impedance." In Kinematic and Dynamic Issues in Sensor Based Control. Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84012-8_20.

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Žlajpah, Leon. "Kinematic Control of Redundant Robots in Changing Task Space." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-49058-8_1.

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Casalino, G., and G. Bartolini. "Redundant Robotic Manipulators II: Learning Dynamics Via Repeated Trials." In Kinematic and Dynamic Issues in Sensor Based Control. Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84012-8_21.

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Ferrentino, Enrico, and Pasquale Chiacchio. "Topological Analysis of Global Inverse Kinematic Solutions for Redundant Manipulators." In ROMANSY 22 – Robot Design, Dynamics and Control. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_10.

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Flores-Mendez, Juan de Dios, Henrik Schiøler, Ole Madsen, and Shaoping Bai. "Impedance Control and Force Estimation of a Redundant Parallel Kinematic Manipulator." In Informatics in Control, Automation and Robotics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-11292-9_9.

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Wampler, Charles W. "The Inverse Function Approach to Sensor-Driven Kinematic Control of Redundant Manipulators." In Kinematic and Dynamic Issues in Sensor Based Control. Springer Berlin Heidelberg, 1990. http://dx.doi.org/10.1007/978-3-642-84012-8_2.

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Conference papers on the topic "Kinematic control. Redundant"

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Chassiakos, A., and M. Christodoulou. "Kinematic control and obstacle avoidance for redundant manipulators." In 1986 25th IEEE Conference on Decision and Control. IEEE, 1986. http://dx.doi.org/10.1109/cdc.1986.267161.

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Chang, Pyung H. "A Dexterity Measure for Kinematic Control of Redundant Manipulators." In 1989 American Control Conference. IEEE, 1989. http://dx.doi.org/10.23919/acc.1989.4790242.

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Meiling Wang, Minzhou Luo, and Xin Lin. "Kinematic constraints formulation of dual redundant arm robot." In 2014 11th World Congress on Intelligent Control and Automation (WCICA). IEEE, 2014. http://dx.doi.org/10.1109/wcica.2014.7053017.

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Williams, Robert L., and James B. Mayhew. "Control of Truss-Based Manipulators Using Virtual Serial Models." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1169.

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Abstract This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant truss-based manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators can then be adapted to the real-time control of TBMs. The forward kinematics transformation can be calculated more efficiently using the equivalent virtual parameters, compared to the computatio
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Wampler, Charles W. "The Inverse Function Approach to Kinematic Control of Redundant Manipulators." In 1988 American Control Conference. IEEE, 1988. http://dx.doi.org/10.23919/acc.1988.4789933.

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He, Li, Mei Liu, Chenfu Yi, et al. "Recurrent Neural Network for Kinematic Control of Redundant Robot Manipulators." In 2020 39th Chinese Control Conference (CCC). IEEE, 2020. http://dx.doi.org/10.23919/ccc50068.2020.9188523.

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Almarkhi, Ahmad, and Anthony Maciejewski. "Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure." In 16th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS - Science and Technology Publications, 2019. http://dx.doi.org/10.5220/0007833100420049.

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Mu¨ller, Andreas. "On the Terminology for Redundant Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49112.

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Different types of redundancy in parallel kinematics machines (PKM) can be used to improve their kinematic and dynamic properties. The meaning of redundancy of PKM is often differently understood in the literature. In this paper a terminology for redundant PKM is proposed. The basis for this classification is a general mathematical model. With the help of this model PKM are regarded as non-linear control systems. The different types of redundancy are clearly distinguished, and their potential applications are discussed. Redundancy is considered from a geometric point of view. Redundancy is a m
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Yu, Yue-Qing, and Ji-Yun Yang. "Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84160.

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The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree
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Ramos, Oscar E. "A kinematic whole-body control system for highly redundant robots." In 2016 IEEE ANDESCON. IEEE, 2016. http://dx.doi.org/10.1109/andescon.2016.7836240.

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Reports on the topic "Kinematic control. Redundant"

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Chang, Pyung H. A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy. Defense Technical Information Center, 1988. http://dx.doi.org/10.21236/ada196223.

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Hacker, C. J., G. A. Fries, and F. G. Pin. Inverse kinematics of redundant systems driver IKORv1.0-2.0 (full space parameterization with orientation control, platform mobility, and portability). Office of Scientific and Technical Information (OSTI), 1997. http://dx.doi.org/10.2172/304121.

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Unseren, M. A. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints. Office of Scientific and Technical Information (OSTI), 1995. http://dx.doi.org/10.2172/89523.

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Unseren, M. A., and D. B. Reister. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 1, On the orthogonality of matrices B and J and comparison to the extended Jacobian method. Office of Scientific and Technical Information (OSTI), 1995. http://dx.doi.org/10.2172/91980.

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