Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators
The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolu...
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| Published in | Physics letters. A Vol. 373; no. 38; pp. 3450 - 3453 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
14.09.2009
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| Subjects | |
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| ISSN | 0375-9601 1873-2429 |
| DOI | 10.1016/j.physleta.2009.07.045 |
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| Abstract | The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels. |
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| AbstractList | The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels. |
| Author | Cai, Binghuang Zhang, Yunong |
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| CitedBy_id | crossref_primary_10_1109_ACCESS_2019_2926703 crossref_primary_10_1016_j_ifacol_2019_12_415 crossref_primary_10_1109_TSMC_2016_2616486 crossref_primary_10_1109_TSMCC_2012_2183868 crossref_primary_10_1016_j_physleta_2012_04_008 crossref_primary_10_1109_TSMC_2024_3444030 crossref_primary_10_1017_S0263574721000941 crossref_primary_10_1016_j_tcs_2019_07_027 crossref_primary_10_1016_j_physleta_2013_06_023 crossref_primary_10_1016_j_heliyon_2024_e26941 crossref_primary_10_1016_j_physleta_2013_04_042 crossref_primary_10_1080_01691864_2015_1120243 crossref_primary_10_1109_TNNLS_2021_3110777 crossref_primary_10_1017_S0263574723001157 crossref_primary_10_1016_j_robot_2012_01_008 crossref_primary_10_1007_s10846_013_9816_8 |
| Cites_doi | 10.1016/S0921-8890(02)00274-9 10.1016/S0375-9601(99)00722-7 10.1016/S0375-9601(02)00424-3 10.1109/TSMCB.2004.830347 10.1109/TSMC.1983.6313123 10.1016/j.physleta.2005.11.005 10.1016/j.mechatronics.2008.04.005 10.1016/j.rcim.2008.02.002 10.1109/70.285587 10.1016/j.mechmachtheory.2008.05.010 10.1016/j.physleta.2009.03.011 |
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| Keywords | 70B15 90C20 Gradient descent Equivalence Different levels 46.15.Cc Redundancy resolution Quadratic programming 45.40.Ln PUMA560 robot manipulator |
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| References | Zhang, Lv, Li, Yang, Chen (bib006) 2008; 18 Perdereau, Passi, Drouin (bib008) 2002; 41 Mariño (bib012) 2006; 351 Chiaverini, Oriolo, Walker (bib002) 2008 Cheng, Chen, Sun (bib003) 1994; 10 Zhang, Wang (bib010) 2002; 298 Cha, Lasky, Velinsky (bib009) 2009; 44 Zhang, Yin, Cai (bib007) 2009; 25 Chen, Wong, Shuai (bib013) 1999; 263 Zhang, Li (bib011) 2009; 373 Zhang, Ma (bib005) 2007 Klein, Huang (bib001) 1983; 13 Zhang, Ge, Lee (bib004) 2004; 34 Perdereau (10.1016/j.physleta.2009.07.045_bib008) 2002; 41 Cha (10.1016/j.physleta.2009.07.045_bib009) 2009; 44 Cheng (10.1016/j.physleta.2009.07.045_bib003) 1994; 10 Zhang (10.1016/j.physleta.2009.07.045_bib011) 2009; 373 Chiaverini (10.1016/j.physleta.2009.07.045_bib002) 2008 Zhang (10.1016/j.physleta.2009.07.045_bib007) 2009; 25 Klein (10.1016/j.physleta.2009.07.045_bib001) 1983; 13 Zhang (10.1016/j.physleta.2009.07.045_bib004) 2004; 34 Zhang (10.1016/j.physleta.2009.07.045_bib010) 2002; 298 Zhang (10.1016/j.physleta.2009.07.045_bib005) 2007 Zhang (10.1016/j.physleta.2009.07.045_bib006) 2008; 18 Mariño (10.1016/j.physleta.2009.07.045_bib012) 2006; 351 Chen (10.1016/j.physleta.2009.07.045_bib013) 1999; 263 |
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| SubjectTerms | Different levels Equivalence Gradient descent PUMA560 robot manipulator Quadratic programming Redundancy resolution |
| Title | Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators |
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