Article
Engineering, Mechanical
Lei Zhang, Guangyao Ouyang, Zhaocai Du
Summary: This study focused on eliminating the coupling effect between joints in a cable-driven hyper-redundant robot through decoupling analysis, obtaining the mapping relationship between driving cables and joint angles, thereby achieving precise control of joint angle changes and workspace trajectories.
MECHANICAL SCIENCES
(2021)
Article
Robotics
Di Wu, Guowei Hou, Wenjie Qiu, Bin Xie
Summary: This study proposed a new method combining parameterization and T-IK to solve the inverse kinematics problem for redundant manipulators, showing improved global and local search abilities. Applied to an 8-DOF robot, it outperformed other algorithms on various trajectory tests, except in running time compared to MOEA/D.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Chemistry, Physical
Yu Su, Haiyan Liu, You Li, Bin Xue, Xianqing Liu, Minsi Li, Chunlan Lin, Xueying Wu
Summary: This paper introduces the reverse priority impedance control of manipulators with reference to redundant robots of a given task, combining Cartesian impedance control solutions to achieve impedance behavior with proper hierarchy. Simulation experiments verify the effectiveness of the proposed control algorithm.
Article
Automation & Control Systems
Mohammad Safeea, Richard Bearee, Pedro Neto
Summary: Redundancy in robotic manipulators has many advantages in improving dexterity and avoiding obstacles and singularities, but it also complicates the inverse kinematics problem. The damped least squares (DLS) method is powerful for calculating the inverse kinematics of redundant robots, but it suffers from a noncyclicity issue. A solution for this problem was successfully proposed and tested in simulation and on a real robotic manipulator.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2021)
Article
Robotics
Jonathan Obregon-Flores, Gustavo Arechavaleta, Hector M. Becerra, America Morales-Diaz
Summary: This article introduces a robust hierarchical inverse dynamics control scheme for redundant manipulators, ensuring predefined-time convergence of regulation tasks and robustness against model uncertainties. The strict hierarchy of tasks is maintained through dynamic consistency, enhancing the robot's flexibility in reaching targets and optimizing task execution schedules.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Robotics
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, Claudio Gaz, Alessandro De Luca
Summary: We present a generalized algorithm for task control of redundant robots that handles hard constraints in both joint and Cartesian space. The algorithm treats these constraints equally and allows for online variations. Simulation and experimental results demonstrate the effectiveness of the approach.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Wilhelm J. Marais, Stefan B. Williams, Oscar Pizarro
Summary: Kinematically redundant vehicle manipulator systems can utilize continuous configuration space to improve disturbance rejection.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Paolo Di Lillo, Daniele Di Vito, Gianluca Antonelli
Summary: This paper proposes a motion planning algorithm that can effectively deploy robot manipulators in partially unstructured environments. The algorithm consists of a global planner in Cartesian space and a local planner at the joint level to ensure feasibility and safety of the trajectory. The method is validated through numerical simulations and experiments with a Kinova Jaco2 manipulator.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Mechanical
Nicholas Baron, Andrew Philippides, Nicolas Rojas
Summary: This paper introduces a novel dynamically balanced kinematically redundant planar parallel architecture, optimizing the balancing parameters of parallelogram linkages to reduce the mass and inertia of the system. The elimination of shaking forces and moments is confirmed through simulation using the multi-body dynamic simulation software msc adams.
JOURNAL OF MECHANICAL DESIGN
(2021)
Article
Engineering, Multidisciplinary
Lu Jiajia, Du Fuxin, Li Yibin, Lei Yanqiang, Zhang Tao, Zhang Gang
Summary: This paper analyzes the inverse kinematics problem of inextensible continuum robots from a new perspective, by replacing the generatrix of the robot's workspace with the Kepler oval. The complicated inverse kinematics problem is simplified into solving the oval equations, leading to the design of an inverse kinematics algorithm. The proposed algorithm demonstrates excellent performance in accuracy and computational efficiency through validation simulations.
APPLIED MATHEMATICAL MODELLING
(2021)
Article
Automation & Control Systems
Jaehyung Kim, Wang Jie, Hyun Hee Kim, Min Cheol Lee
Summary: The proposed method uses potential field and angular limitation value function to optimize the configuration of angular velocity for redundant manipulators, avoiding joint limitations and collisions more efficiently.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
M. N. Vu, F. Beck, M. Schwegel, C. Hartl-Nesic, A. Nguyen, A. Kugi
Summary: Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a challenging problem. This paper presents a real-time framework that parameterizes the analytical IK of the redundant manipulator using redundancy parameters, combined with a target pose to yield a unique IK solution. Unlike existing approaches, the proposed framework directly learns these parameters using a neural network, providing the optimal IK solution with respect to manipulability and closeness to the current robot configuration.
Article
Engineering, Electrical & Electronic
Qi Ruan, Fei Yang, Honghao Yue, Qiancheng Li, Jinsui Xu, Rongqiang Liu
Summary: This paper proposes a position acquisition method combining flexible sensors and kinematics model to address the issue of large errors in hyper-redundant robots with load or large deformation. The method utilizes a hyper-elastic sensor based on liquid alloy to directly test the geometric parameters of the robot joints, and establishes a mapping model between the resistance and length of the flexible sensor. By combining with the kinematics model and the testing data of flexible sensors, the overall position of the hyper-redundant arm can be calculated.
IEEE SENSORS JOURNAL
(2022)
Article
Engineering, Mechanical
Lukasz Wolinski, Marek Wojtyra
Summary: Kinematic redundancy allows robots to have many useful capabilities, but the inverse kinematics problem for redundant manipulators is not straightforward. Traditional pseudoinverse methods cannot handle joint position, velocity, and acceleration limits. Therefore, a QP IK formulation is proposed, which can easily incorporate joint constraints. In addition, trajectory scaling is introduced to overcome the potential nonexistence of joint space solutions.
MECHANISM AND MACHINE THEORY
(2024)
Article
Chemistry, Multidisciplinary
Alessandro Tringali, Silvio Cocuzza
Summary: The proposed inverse kinematics method for redundant manipulators optimizes kinetic energy to achieve motion control, providing a solution close to the global optimum while avoiding singularities. It outperforms locally optimal methods and is suitable for real-time implementation.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Alessandro Marino, Gianluca Antonelli, Antonio Pedro Aguiar, Antonio Pascoal, Stefano Chiaverini
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2015)
Article
Automation & Control Systems
Alessandro Marino, Gianluca Antonelli
ROBOTICS AND AUTONOMOUS SYSTEMS
(2015)
Article
Automation & Control Systems
G. Muscio, F. Pierri, M. A. Trujillo, E. Cataldi, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2018)
Article
Automation & Control Systems
Anibal Ollero, Guillermo Heredia, Antonio Franchi, Gianluca Antonelli, Konstantin Kondak, Alberto Sanfeliu, Antidio Viguria, J. Ramiro Martinez-de Dios, Francesco Pierri, Juan Cortes, Angel Santamaria-Navarro, Miguel Angel Trujillo, Ribin Balachandran, Juan Andrade-Cetto, Angel Rodriguez
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2018)
Article
Automation & Control Systems
Andreas Birk, Tobias Doernbach, Christian Atanas Mueller, Tomasz Luczynski, Arturo Gomez Chavez, Daniel Koehntopp, Andras Kupcsik, Sylvain Calinon, Ajay K. Tanwani, Gianluca Antonelli, Paolo di Lillo, Enrico Simetti, Giuseppe Casalino, Giovanni Indiveri, Luigi Ostuni, Alessio Turetta, Andrea Caffaz, Peter Weiss, Thibaud Gobert, Bertrand Chemisky, Jeremi Gancet, Torsten Siedel, Shashank Govindaraj, Xavier Martinez, Pierre Letier
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2018)
Article
Automation & Control Systems
Yvan R. Petillot, Gianluca Antonelli, Giuseppe Casalino, Fausto Ferreira
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2019)
Article
Automation & Control Systems
Paolo Di Lillo, Francesco Pierri, Gianluca Antonelli, Fabrizio Caccavale, Anibal Ollero
Summary: This paper introduces a novel control framework for coordinated motion for multi-robot systems, incorporating tasks expressed as equality and inequality constraints. Experimental results on two different multi-arm systems demonstrate the effectiveness of the approach in household tasks and inspection and maintenance tasks.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Automation & Control Systems
Paolo Di Lillo, Enrico Simetti, Francesco Wanderlingh, Giuseppe Casalino, Gianluca Antonelli
Summary: This article presents the overall control architecture of the DexROV project tested during the June 2018 experimental campaign in Marseilles, France, focusing on the motion controller's inverse kinematics algorithm and the impedance loop application for remote operation of an underwater vehicle-manipulator system.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Editorial Material
Automation & Control Systems
Wei He, Zhijun Li, Thomas Meurer, Gianluca Antonelli, Okyay Kaynak, Toshio Fukuda
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Giacomo Golluccio, Giuseppe Gillini, Alessandro Marino, Gianluca Antonelli
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2021)
Article
Automation & Control Systems
Enrico Simetti, Ricard Campos, Daniele Di Vito, Josep Quintana, Gianluca Antonelli, Rafael Garcia, Alessio Turetta
Summary: The article discusses the main methodologies and key technologies behind the ROBUST project, funded by the European Union within the Horizon 2020 framework, which aims to develop an autonomous underwater vehicle manipulator system for deep sea mining exploration. The experimental results from sea trials in Sardinia, Italy, support the proposed methodologies.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Paolo Di Lillo, Daniele Di Vito, Gianluca Antonelli
Summary: This paper proposes a motion planning algorithm that can effectively deploy robot manipulators in partially unstructured environments. The algorithm consists of a global planner in Cartesian space and a local planner at the joint level to ensure feasibility and safety of the trajectory. The method is validated through numerical simulations and experiments with a Kinova Jaco2 manipulator.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Robotics
Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortes, Antonio Franchi
IEEE ROBOTICS AND AUTOMATION LETTERS
(2018)
Proceedings Paper
Automation & Control Systems
Gianluca Antonelli, Signe Moe, Kristin Y. Pettersen
2015 23RD MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED)
(2015)
Proceedings Paper
Automation & Control Systems
K. Baizid, G. Giglio, F. Pierri, M. A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
(2015)
