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2 Redundant Manipulators: Kinematic Analysis and Redundancy Resolution
Particular attention has been devoted to the study of redundant manipulators in the last 10-15 years. Redundancy has been recognized as a major...
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Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy
The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a...
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A Novel Class of (3 + 2)-DOF Reconfigurable Generalized Parallel Mechanisms with Kinematic Redundancy
In this paper, a new method is presented for building Generalized Parallel Mechanisms (GPMs) that can be reconfigured. This method involves combining...
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Kinematic Performance Analysis and Optimization of Parallel Manipulators Without Actuation Redundancy
Kinematic performance analysis and optimization of PMs are essential for the actual design and control, which have attracted increasing attention in...
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Core-drilling kinematic modeling and analysis of Jiaolong submersible manipulator
The complicated topographies of the deep sea pose significant challenges for the core drilling with the Jiaolong submersible manipulator. To address...
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Redundancy Resolution Scheme for Manipulators Subject to Inequality Constraints
The aim of this paper is the development of a redundancy resolution scheme for manipulators able to cope with kinematic constraints. In detail, the...
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Inverse Kinematics Solution Based on Redundancy Modeling and Desired Behaviors Optimization for Dual Mobile Manipulators
Dual mobile manipulators are increasingly used in cooperative operation tasks, and their appropriate joint configurations are the premise to ensure...
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Global Redundancy Optimization of Manipulability for 7-DOFs Anthropomorphic Manipulator Using Joint Monotonicity
Real-time manipulability maximization is a common sub-task for the a redundant manipulator. However, due to the heavy computational burden and...
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Iterative optimization of time-variant kinematic model for dynamic error compensation of robot vision measurement system
The industrial robot combined with a 3D vision sensor can be flexibly applied to many measurement fields, and repeatability is one of the key...
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Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints
Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and...
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6. Kinematic Control of UVMSs
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic...
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Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity
Redundancy facilitates some of the most remarkable capabilities of humans, and is therefore omni-present in our physiology. The relationship between...
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A Reliable Algorithm for Obtaining All-Inclusive Inverse Kinematics’ Solutions and Redundancy Resolution of Continuum Robots
This paper presents a reliable algorithm for solving the inverse kinematic (IK) problem of continuum robots. Admittedly, there are an infinite number...
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Short Notes on Kinematic Analysis
This chapter presents a short overview on the main concepts related to the kinematic analysis of frame structures.
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Kinematic Analysis of a Novel Actuation Redundant 3-DOF Parallel Manipulator Based on Parallelogram-Linkage
The passive joints occurring in the parallel robots require additional steps to be calculated, which may lead to complicated analytical kinematic and...
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Dynamic modulation of multi-task priority for controlling redundancy insufficient robots
Redundant robots are gaining popularity for their agility in service tasks, but they struggle with managing multiple tasks in dynamic and...
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An Optimization-Based Approach for Redundancy Resolution of Spatial Robots in Realistic Working Environments
Redundant manipulators possess more degree of freedom (DOF) than the required to accomplish a particular task. The characteristic feature of...
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Kinematic tests on a docking mechanism for microsatellites
DOCKS is a smart docking system developed within the framework of the Space Rider Observer Cube mission (SROC) but suitable for use in more general...
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Design, Simulation and Kinematic Validation of a Hip Prosthetic Mechanism with a Multimotor Function
We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion–extension and abduction–adduction, and its...
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Kinematic and stiffness modelling and performance evaluation of a new PRS-PRU-PUR overconstrained parallel mechanism
This paper proposes a new 2R1T PRS-PRU-PUR overconstrained parallel mechanism (PM). Firstly, the kinematics and stiffness are studied based on screw...