The Kinematics of Hyper-Redundant Robots

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

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Adaptive variable structure controller of redundant robots with mobile/fixed obstacles avoidance

Robotics and Autonomous Systems ◽

10.1016/j.robot.2013.02.010 ◽

2013 ◽

Vol 61 (6) ◽

pp. 555-564 ◽

Cited By ~ 14

Author(s):

Tarek Madani ◽

Boubaker Daachi ◽

Abdelaziz Benallegue

Keyword(s):

Variable Structure ◽

Redundant Robots

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New Jerk-Level Configuration Adjustment Schemes Applied to Constrained Redundant Robots

IEEE Transactions on Industrial Informatics ◽

10.1109/tii.2021.3098499 ◽

2021 ◽

pp. 1-1

Author(s):

Binbin Qiu ◽

Xiao-Dong Li ◽

Jinjin Guo ◽

Ning Tan

Keyword(s):

Redundant Robots

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Comparative study on the redundancy of mobile single- and dual-arm robots

International Journal of Advanced Robotic Systems ◽

10.1177/1729881416666782 ◽

2016 ◽

Vol 13 (6) ◽

pp. 172988141666678

Author(s):

Hongxing Wang ◽

Ruifeng Li ◽

Yunfeng Gao ◽

Chuqing Cao ◽

Lianzheng Ge

Keyword(s):

Rate Control ◽

Control Algorithm ◽

Redundant Robot ◽

Motion Models ◽

Redundant Robots ◽

Operational Space ◽

Rate Control Algorithm ◽

Simulation Results ◽

Dual Arm Robot ◽

Dual Arm

A whole resolved motion rate control algorithm designed for mobile dual-arm redundant robots is presented in this article. Based on this algorithm, the end-effector movements of the dual arms of the mobile dual-arm redundant robot can be decomposed into the movements of the two driving wheels of the differential driving platform and the movements of the dual-arm each joint of this robot harmoniously. The influence of the redundancies of the single- and dual-arm robots on the operation based on the fixed- and differential-driving platforms, which are then based on the whole resolved motion rate control algorithm, is studied after building their motion models. Some comparisons are made to show the advantages of this algorithm on the entire modeling of the complicated robotic system and the influences of the redundancy. First, the comparison of the simulation results between the fixed single-arm robot and the mobile single-arm robot is presented. Second, a comparison of the simulation results between the mobile single-arm robot and the mobile dual-arm robots is shown. Compared with the mobile single-arm robot and the fixed dual-arm robot based on this algorithm, the mobile dual-arm robot has more redundancy and can simultaneously track and operate different objects. Moreover, the mobile dual-arm redundant robot has better smoothness, more flexibility, larger operational space, and more harmonious cooperation between the two arms and the differential driving platform during the entire mobile operational process.

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Driving Redundant Robots by a Dedicated Clutch-Based Actuator

Lecture Notes in Control and Information Sciences - Robot Motion and Control 2007 ◽

10.1007/978-1-84628-974-3_15 ◽

2007 ◽

pp. 167-176 ◽

Cited By ~ 1

Author(s):

Anani Ananiev ◽

Thorsten Michelfelder ◽

Ivan Kalaykov

Keyword(s):

Redundant Robots

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Dynamics of redundant robots – inverse solutions

Robotica ◽

10.1017/s0263574700009954 ◽

1986 ◽

Vol 4 (4) ◽

pp. 263-267 ◽

Cited By ~ 6

Author(s):

Ronald L. Huston ◽

Timothy P. King

Keyword(s):

Inverse Kinematics ◽

Degrees Of Freedom ◽

Solution Algorithm ◽

Redundant Robot ◽

Redundant Robots ◽

Revolute Joints ◽

Inverse Kinematics Problem ◽

Inverse Solutions ◽

Natural Dynamics ◽

Least Energy

SUMMARYThe dynamics of “simple, redundant robots” are developed. A “redundant” robot is a robot whose degrees of freedom are greater than those needed to perform a given kinetmatic task. A “simple” robot is a robot with all joints being revolute joints with axes perpendicular or parallel to the arm segments. A general formulation, and a solution algorithm, for the “inverse kinematics problem” for such systems, is presented. The solution is obtained using orthogonal complement arrays which in turn are obtained from a “zero-eigenvalues” algorithm. The paper concludes with an assertion that this solution, called the “natural dynamics solution,” is optimal in that it requires the least energy to drive the robot.

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