An L?-Norm Based Optimization Method for Sparse Redundancy Resolution of Robotic Manipulators

Redundancy resolution of manipulators through torque optimization

Redundancy Resolution of Wire-actuated Parallel Manipulators

Redundant manipulators have potential advantages of using their degree(s) of redundancy to satisfy additional task(s). To achieve desirable performance criteria, various optimization techniques can be applied to redundant manipulators. In the work presented, the redundancy resolution of planar wire-actuated parallel manipulators is investigated at the kinematic and dynamic levels in order to pe...

Kinetic limitations on the use of redundancy in robotic manipulators

where the C, are matrices of Coriolis and centrifugal coefficients. If T is used to denote the torque due to the minimum norm acceleration, then T can be obtained by substituting the first term of (6), i.e., the pseudoinverse solution, into (7), which results in where T is the vector of joint torques, H is the inertia matrix, C is a vector of torques due to Coriolis and centrifugal effects, and...

Redundancy Resolution of Robot Manipulators Using Optimal Kinematic Control

Ab3tractGlobally optimal redundancy resolution in robot manipulators has been at t racted research interests and investigated with eager. Some researchers have attacked t h e redundancy resolution with optimization techniques and others with Pontryagin's principle. In this paper, as an another approach w e propose the optimal kinematic control. The formulation is: first to convert the redundanc...

Infinity-norm acceleration minimization of robotic redundant manipulators using the LVI-based primal–dual neural network

Kinematically redundant manipulators admit an infinite number of inverse kinematic solutions and hence the optimization of different performance measures corresponding to various task requirements must be considered. Joint accelerations of these mechanisms are usually computed by optimizing various criteria defined using the two-norm of acceleration vectors in the joint space. However, in formu...