15 search results - page 1 / 3 » Compliant motion tasks for robot manipulators subject to joi... |
CDC
2008
IEEE
13 years 6 months ago
2008
IEEE
We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained ...
ICRA
2010
IEEE
13 years 3 months ago
2010
IEEE
— This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration b...
IROS
2007
IEEE
13 years 11 months ago
2007
IEEE
— We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained m...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator's workspace W into a desingularized ...
ICRA
1998
IEEE
13 years 8 months ago
1998
IEEE
Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables the ng...