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For returning to a near initial location for a mobile redundant manipulator after a task execution, a wheel-joint coordinated minimum movement (WJCMM) scheme is proposed to minimize the movement/displacement between the final state and the initial state of the mobile robot when the end-effector fulfills a given task. Such a scheme can both coordinate simultaneously the wheels of the mobile platform...
To solve nonrepetitive problems, this brief proposes and investigates a novel repetitive motion planning (RMP) scheme (termed acceleration-level RMP scheme), which is resolved at the joint-acceleration level rather than at the joint-velocity level. The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints. For the purposes of experimentation, a discrete-time...
To achieve the self-motion planning (SMP) of redundant robot manipulators, this paper investigates an SMP scheme by considering joint physical limits. The scheme is then reformulated and unified as a quadratic program (QP) subject to equality and bound constraints. For comparison purposes, the classical pseudoinverse-type method is presented. Simulation results based on a three-link planar manipulator,...
In this paper, to achieve the real-time joystick control of redundant manipulators, two schemes are proposed and investigated: one scheme is a cosine-based position-to-velocity mapping, which maps the position of the joystick in the motion range to the velocity of the robot end-effector for the real-time end-effector velocity generation; and the other is a real-time joystick-controlled motion planning...
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