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A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of ...
This paper suggests employing robotic redundancy to evenly distribute joint loads, thereby improving performance and avoiding torque saturation. Prior studies ...
A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of ...
A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of ...
One way of reducing the actuator demands is to place the joint torques closest to the midpoint of the joint torque limits ,(I+ + r-). In the following, a method ...
This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed ...
Oct 22, 2024 · In this paper, a control method is developed for minimizing joint torque on a redundant manipulator where an external force acts on the ...
A new method of peak torque reduction with redundant manipulators ...
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A new method aiming at reducing peak torques is developed in this paper for kinematically redundant manipulators. The method considers the contributions of ...
Jul 1, 2021 · This paper presents an approach to optimize the control torque of heavy-duty redundant manipulators used for dismantling nuclear power plants.
An approach to resolve the kinematic redundancy and to control the motion of a redundant manipulator is described. The redundancy is resolved by imposing ...