The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper discusses the advantages of singular configurations of a two-link robot arm in achieving tasks of pulling or lifting a heavy object. Optimal base location and arm motion for minimizing the joint torques are examined by numerical simulations, and the base location where the robot arm is near a singular configuration at the start time of task is optimal. It is shown analytically that joint...
This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The...
In this paper we show that by allowing a small orientation error in the specifications of the end effector orientation for spray paint applications, both speed and performance can be substantially improved. In previous publications, we have shown how a continuous set of orientations can be represented as a positive definiteness test on a given matrix. This allows us to cast the problem into a convex...
The study of redundant manipulators presents a number of challenges. In particular, it is of interest to investigate how best to take advantage of the increased number of joint space trajectories solving the inverse kinematics problem which are made available by the redundant design. Here the inverse kinematics problem is investigated for those robotic manipulators possessing redundancy. An algorithm...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.