Výsledky vyhledávání - "redundant robot"

Akademický článek

Real-time optimized inverse kinematics of redundant robots under inequality constraints

Autor: Linlin Zhang, Huibin Du, Zhiying Qin, Yuejing Zhao, Guang Yang

Publikováno v: Scientific Reports, Vol 14, Iss 1, Pp 1-18 (2024)

Abstract Inverse kinematics of redundant robots presents a challenging problem for real-time applications due to the lack of uniqueness of solution and the low computational efficiency caused by redundancy and hard limits. In this work, a general and

Externí odkaz: https://doaj.org/article/630e96a1045c480687df25ae8ebb28cc

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Akademický článek

Impedance-based null-space control of redundant torque-controlled robot

Autor: Zhang, Leigang, Yu, Hongliu, Cui, Xilong

Publikováno v: Industrial Robot: the international journal of robotics research and application, 2024, Vol. 51, Issue 5, pp. 799-808.

Externí odkaz: http://www.emeraldinsight.com/doi/10.1108/IR-01-2024-0038

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Akademický článek

Image based visual servoing with kinematic singularity avoidance for mobile manipulator

Autor: Jesus Hernandez-Barragan, Carlos Villaseñor, Carlos Lopez-Franco, Nancy Arana-Daniel, Javier Gomez-Avila

Publikováno v: PeerJ Computer Science, Vol 10, p e2559 (2024)

This article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error

Externí odkaz: https://doaj.org/article/dc30907ae1524a1fa470d50e6f333a83

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