Redundant Manipulator
Mostrando 1-3 de 3 artigos, teses e dissertações.
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1. Hyper-redundant robots with modules of parallel arquitecture. / Robô hiper-redundante com módulos de arquitetura paralela.
This research studies hyper-redundant robots focusing on the kinematics analysis. A hyper-redundant robot was developed based on modules of parallel architecture and binary actuators. Each module has three degrees-of-freedom, two rotational degrees of freedom with perpendicular axis and one translational degree of freedom. After searching for parallel struct
Publicado em: 2007
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2. Virtual kinematic chains to solve the underwater vehicle-manipulator systems redundancy
This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based
Journal of the Brazilian Society of Mechanical Sciences and Engineering. Publicado em: 2006-09
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3. Controle de Manipulador Redundante Utilizando Realimentação Visual
In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip
Publicado em: 2002