Redundancy resolution of manipulators through torque optimization
نویسندگان
چکیده
منابع مشابه
A Primal-Dual Neural Network for Joint Torque Optimization of Redundant Manipulators Subject to Torque Limit Constraints
In this paper, a primal-dual neural network is proposed for the joint torque optimization of redundant manipulators subject to torque limit constraints. The neural network generates the minimum driving joint torques which never exceed the hardware limits and keep the end-effector to track a desired trajectory. The consideration of physical limits prevents the manipulator from torque saturation ...
متن کاملOptimal positioning of combined mobile platform-manipulator systems for material handling tasks
Mobile manipulators are attracting significant interest in the industrial, military, and public service communities because of the potential they provide for increased efficiency in material handling and manipulation tasks. Corresponding interest has arisen in the robotics research community since the combination and coordination of the mobility of an autonomous platform with the robotic motion...
متن کاملRedundancy 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...
متن کاملRedundancy 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...
متن کاملInfinity-Norm Torque Minimization for Redundant Manipulators Using a Recurrent Neural Network
A recurrent neural network is applied for minimizing the infinity-norm of joint torques in redundant manipulators. The recurrent neural network explicitly minimizes the maximum component of joint torques in magnitude while keeping the relation between the joint torque and the end-effector acceleration satisfied. The end-effector accelerations are given to the recurrent neural network as its inp...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- IEEE J. Robotics and Automation
دوره 3 شماره
صفحات -
تاریخ انتشار 1985