Chembuly et al., 2020 - Google Patents
An efficient approach for inverse kinematics and redundancy resolution of spatial redundant robots for cluttered environmentChembuly et al., 2020
View HTML- Document ID
- 7570006203079306604
- Author
- Chembuly V
- Voruganti H
- Publication year
- Publication venue
- SN Applied Sciences
External Links
Snippet
This paper presents an optimization-based approach for solving the inverse kinematics problem of spatial redundant manipulators in cluttered workspaces. To provide better flexibility and manipulability in the narrow regions, the joints were modeled with multiple …
- 238000005457 optimization 0 abstract description 55
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40611—Camera to monitor endpoint, end effector position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
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