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Kinematic Design of Serial Link Manipulators From Task Specifications

Christiaan J. J. Paredis, Pradeep K. Khosla
1993 The international journal of robotics research  
First, for the design of a General Purpose Fault Tolerant Manipulator, it is assumed that neither the exact task trajectory, nor the redundancy resolution algorithm are known a priori and that the manipulator  ...  In this case, two redundant DOFs are necessary and sufficient to sustain one joint failure as is demonstrated in two design templates for spatial fault tolerant manipulators.  ...  Acknowledgments The authors would also like to thank the reviewers for pointing out some flaws in the original manuscript.  ... 
doi:10.1177/027836499301200306 fatcat:rqx7nrsupvc5zmxlkdkxnrptc4

Designing Fault-Tolerant Manipulators: How Many Degrees of Freedom?

Christiaan J. J. Paredis, Pradeep K. Khosla
1996 The international journal of robotics research  
First, for the design of a General Purpose Fault Tolerant Manipulator, it is assumed that neither the exact task trajectory, nor the redundancy resolution algorithm are known a priori and that the manipulator  ...  In this case, two redundant DOFs are necessary and sufficient to sustain one joint failure as is demonstrated in two design templates for spatial fault tolerant manipulators.  ...  Acknowledgments The authors would also like to thank the reviewers for pointing out some flaws in the original manuscript.  ... 
doi:10.1177/027836499601500606 fatcat:gytz73k5evamhf3gbymo5vo6k4

A unified dynamics-based motion planning algorithm for autonomous underwater vehicle-manipulator systems (UVMS)

Tarun Kanti Podder, Nilanjan Sarkar
2004 Robotica (Cambridge. Print)  
In other words, a task planning algorithm provides a set of desired (i.e., reference) trajectories for the position and force variables, which are used by the controller to execute a given task.  ...  One of the main research problems in underwater robotics is how to design an autonomous controller for a UVMS.  ...  Here, we develop an algorithm to exploit the thruster and actuator redundancy to accommodate thruster/actuator faults during operation.  ... 
doi:10.1017/s0263574703005368 fatcat:5dlbti3b6bgylkx2a24t27x434

Unified Dynamics-based Motion Planning Algorithm for Autonomous Underwater Vehicle-Manipulator Systems (UVMS) [chapter]

Tarun K., Nilanjan Sarkar
2007 Mobile Robots: Perception & Navigation  
In other words, a task planning algorithm provides a set of desired (i.e., reference) trajectories for the position and force variables, which are used by the controller to execute a given task.  ...  One of the main research problems in underwater robotics is how to design an autonomous controller for a UVMS.  ...  solve trajectory generation problem for redundant robot manipulators using the variational approach with B-spline function to minimize the consumed electrical energy.  ... 
doi:10.5772/4779 fatcat:a2hbcla4arh5flxanxrp7ngtc4

Kinematics analysis of in-parallel 5 DOF haptic device

Leng-Feng Lee, Madusudanan S. Narayanan, Frank Mendel, Venkat N. Krovi
2010 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics  
with appropriate passive joints.  ...  Specifically, we develop the system-level kinematic model in a symbolic (yet algorithmic) fashion that facilitates: (i) computational development of pertinent symbolic equations; (ii) generalization to  ...  This is an aspect that we examine in the context of the Quanser High Definition Haptic Device (HD) 2 -an in-parallel haptic device formed by coupling two 3-link Phantom 1.5 type serial chain manipulators  ... 
doi:10.1109/aim.2010.5695908 fatcat:ejinovd4xjalzgfs6323wobkb4

Design and evaluation of an actuated exoskeleton for examining motor control in stroke thumb

Furui Wang, Christopher L. Jones, Milind Shastri, Kai Qian, Derek G. Kamper, Nilanjan Sarkar
2016 Advanced Robotics  
The experimental results show that the ATX is able to provide individual actuation at all 5 thumb joints with high joint velocity and torque capacities.  ...  This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in examining motor control and hand rehabilitation.  ...  These included the tracking of ramp trajectories, trajectory with high instantaneous velocity at an individual joint, and tracking of different ramp trajectories for multiple joints simultaneously.  ... 
doi:10.1080/01691864.2015.1105867 pmid:27672232 pmcid:PMC5035118 fatcat:h4i4gxl6rnehzglxu3hb7rotcu

Control of cooperating mobile manipulators

T.G. Sugar, V. Kumar
2002 IEEE Transactions on Robotics and Automation  
We describe a framework and control algorithms for coordinating multiple mobile robots with manipulators focusing on tasks that require grasping, manipulation and transporting large and possibly flexible  ...  We describe the key aspects of the overall hierarchy and the basic algorithms, with specific applications to our experimental testbed consisting of three robots.  ...  Ideally, we want each mobile manipulator to be equipped with an end effector that allows it to exert controlled forces and moments on the object and can accommodate small position and orientation errors  ... 
doi:10.1109/70.988979 fatcat:wpnyhz226vco5kaomcoq4tidme

Exploiting robot redundancy in collision detection and reaction

A. De Luca, L. Ferrajoli
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This leads to the use of the so-called dynamically consistent approach to redundancy resolution, which is further elaborated in the paper.  ...  If we wish, however, to continue the execution of a Cartesian trajectory, robot redundancy can be exploited by projecting the reaction torque into the null space of a dynamic task matrix so as not to affect  ...  PRELIMINARIES We consider robot manipulators as open kinematic chains of rigid bodies with n joints and generalized coordinates q ∈ R n .  ... 
doi:10.1109/iros.2008.4651204 dblp:conf/iros/LucaF08 fatcat:6pmd2qgmufb2bixqordgnu7isa

The Next Step in Robot Commissioning: Autonomous Picking and Palletizing

Robert Krug, Todor Stoyanov, Vinicio Tincani, Henrik Andreasson, Rafael Mosberger, Gualtiero Fantoni, Achim J. Lilienthal
2016 IEEE Robotics and Automation Letters  
This redundancy is exploited by a local, prioritized kinematic controller which generates reactive manipulator motions on-thefly.  ...  The main theoretical contribution is a novel grasp representation scheme which allows for redundancy in the gripper pose placement.  ...  In this section, we address these issues with a novel integrative approach for grasp representation/planning and manipulator motion generation.  ... 
doi:10.1109/lra.2016.2519944 dblp:journals/ral/0002STAMFL16 fatcat:jdnvhkrizvg3rldwmy45s77yc4

A Generalized Framework for Interactive Dynamic Simulation for MultiRigid Bodies

W. Son, K. Kim, N.M. Amato, J.C. Trinkle
2004 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
To provide this generality, we have developed I-GMS in an object-oriented framework.  ...  systems with contact interaction in virtual environments.  ...  They have developed an algorithm for computing forward dynamics of an link manipulator, which explicitly builds the mass matrix for the system and inverts it to solve for joint accelerations.  ... 
doi:10.1109/tsmcb.2003.818434 pmid:15376839 fatcat:4sdykn7cp5gc5ayfwtiertrjma

Linear controllers for free-flying and controlledfloating space robots: a new perspective

Amr Mohamed, Chakravarthini Saaj, Asma Seddaoui
2020 Aeronautics and Aerospace Open Access Journal  
Such orbital missions require servicer spacecraft equipped with one or more dexterous manipulators.  ...  This assessment considered the requirements on precise trajectory tracking, minimizing power consumption and robustness during the close-range operation with the target spacecraft.  ...  For the free-flying mode, the base-spacecraft is assumed to be stabilized at all times, therefore, dealing with the system as a terrestrial manipulator with a fixed base in an inertial frame.  ... 
doi:10.15406/aaoaj.2020.04.00112 fatcat:dtla27ol45bllhjgajf47f5wve

Robotics-based synthesis of human motion

O. Khatib, E. Demircan, V. De Sapio, L. Sentis, T. Besier, S. Delp
2009 Journal of Physiology - Paris  
Many of these processes have much in common with the problems found in robotics research.  ...  In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii  ...  The results demonstrated the effectiveness of the direct marker control algorithm in ensuring smooth tracking of marker trajectories and for the extraction of joint angles without inverse kinematics computations  ... 
doi:10.1016/j.jphysparis.2009.08.004 pmid:19665552 pmcid:PMC2782476 fatcat:czny3ln3mbaqjft25gp2p4sz4u

Redundancy Resolution in Human-Robot Co-manipulation with Cartesian Impedance Control [chapter]

Fanny Ficuciello, Luigi Villani, Bruno Siciliano
2015 Springer Tracts in Advanced Robotics  
In this paper the role of redundancy in Cartesian impedance control of a robotic arm for the execution of tasks in co-manipulation with humans is considered.  ...  Through an extensive experimental study on a 7-DOF KUKA LWR4 arm, we compare two different strategies to solve redundancy and we show that, when redundancy is exploited to ensure a decoupled apparent inertia  ...  Impedance control with redundancy resolution The operator interacts with the robot by grasping the end effector and moving it along arbitrary trajectories.  ... 
doi:10.1007/978-3-319-23778-7_12 fatcat:kguqhv6uffdmtizy5mygwldzeu

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems [article]

Dinesh Rabindran
2014 arXiv   pre-print
The actuator performance is evaluated using simulations with an output velocity specification and resolving input trajectories using a minimum-norm solution.  ...  For achieving this goal, past work has concentrated on force control algorithms at the system level with limited focus on performance expansion at the actuator level.  ...  In this method, the torque (or current) variation at an actuator is used for commanding accommodative motions in the joints.  ... 
arXiv:1402.5461v1 fatcat:xcnz2pjnyvf2fpfsvc7nd7hhjq

Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration

Alessandro De Luca, Fabrizio Flacco
2012 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
A collision avoidance algorithm based on depth information of the HRI scene is used in the first place.  ...  Safe human robot coexistence is achieved with a layered approach for coping with undesired collisions and intended contacts.  ...  ACKNOWLEDGEMENTS Parts of this research were performed in cooperation with the Institute of Robotics and Mechatronics, German Aerospace Center, and with the Artificial Intelligence Laboratory, Stanford  ... 
doi:10.1109/biorob.2012.6290917 fatcat:nuuzf44birg6xoz5svbaeltoxe
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