A simplified kinematics and kinetics formulation for prismatic tensegrity robots: Simulation and experiments
A Yeshmukhametov, K Koganezawa - Robotics, 2023 - mdpi.com
Tensegrity robots offer several advantageous features, such as being hyper-redundant,
lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits …
lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits …
A collision-free path planning method for industrial robot manipulators considering safe human–robot interaction
This paper introduces a new method to solve the collision-free path planning problem for
industrial robots considering safe human–robot coexistence. The aim is to keep the robot at …
industrial robots considering safe human–robot coexistence. The aim is to keep the robot at …
Kinetostatic optimization for kinematic redundancy planning of nimbl'bot robot
In manufacturing industry, computer numerical control (CNC) machines are often preferred
over industrial serial robots (ISR) for machining tasks. Indeed, CNC machines offer high …
over industrial serial robots (ISR) for machining tasks. Indeed, CNC machines offer high …
A framework for set-based kinematic control of multi-robot systems
In this paper, a novel control framework for coordinated motion for kinematically redundant
multi-robot systems is developed. The framework embeds both tasks expressed as equality …
multi-robot systems is developed. The framework embeds both tasks expressed as equality …
Task priority based design optimization of a kinematic redundant robot
This paper presents and defines a new design optimization method for kinematic redundant
robot manipulators based on their applications. Kinematic redundant manipulators can …
robot manipulators based on their applications. Kinematic redundant manipulators can …
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 unstructured environments. Research is …
with managing multiple tasks in dynamic and unstructured environments. Research is …
Geometrical interpretation and detection of multiple task conflicts using a coordinate invariant index
Modern robots act in dynamic and partially unknown environments where path replanning
can be mandatory if changes in the environment are observed. Task-prioritized control …
can be mandatory if changes in the environment are observed. Task-prioritized control …
Singularity avoidance of task-redundant robots in pointing tasks: on nullspace projection and cardan angles as orientation coordinates
M Schappler, T Ortmaier - Proceedings of the 18th …, 2021 - repo.uni-hannover.de
Robot manipulators are often deployed in tool-symmetric tasks, which only requires defining
end effector position and pointing direction. In this case six-axis serial industrial robots and …
end effector position and pointing direction. In this case six-axis serial industrial robots and …
Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying
In this paper, we present a solution for robot arm-controlled agricultural spraying, handling
the spraying task as a constrained prioritized 3T2R task. 3T2R tasks in robot manipulation …
the spraying task as a constrained prioritized 3T2R task. 3T2R tasks in robot manipulation …
A geometric tracking of rank-1 manipulability for singularity-robust collision avoidance
A Yun, J Ha - Intelligent Service Robotics, 2021 - Springer
For safe operation of cooperative robots, we propose a real-time collision avoidance
algorithm that is robust to kinematic singularities of serial robots. The main idea behind the …
algorithm that is robust to kinematic singularities of serial robots. The main idea behind the …