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Journal Articles

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061017.
Paper No: JMR-23-1773
https://doi.org/10.1115/1.4065234
Published Online: April 24, 2024
View Article titled, Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics
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Topics: Kinematics, Manifolds, Manipulators, Manufacturing, Redundant manipulators, Redundancy (Engineering), Dynamics (Mechanics), Manipulator dynamics, Resolution (Optics)
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
View Article titled, A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
View Article titled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
View Article titled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
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Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
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Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739]

João Cavalcanti Santos, Maira Martins da Silva
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Errata
J. Mechanisms Robotics. August 2021, 13(4): 047001.
Paper No: JMR-21-1147
https://doi.org/10.1115/1.4050931
Published Online: May 20, 2021
View Article titled, Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739]
Open the PDF for Erratum: “Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing” [ASME J. Mech. Rob. 9(4), p. 041016; DOI: 10.1115/1.4036739] in another window
Topics: Dynamic programming, Redundancy (Engineering), Redundant manipulators, Resolution (Optics)
Journal Articles

On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators

Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061009.
Paper No: JMR-17-1107
https://doi.org/10.1115/1.4037803
Published Online: September 26, 2017
View Article titled, On the Solutions of Interval Systems for Under-Constrained and Redundant Parallel Manipulators
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Topics: Actuators, Analytical methods, Jacobian matrices, Linear systems, Manipulators, Redundant manipulators, Hull
Journal Articles

Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

João Cavacanti Santos, Maíra Martins da Silva
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041016.
Paper No: JMR-16-1372
https://doi.org/10.1115/1.4036739
Published Online: May 24, 2017
View Article titled, Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing
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Topics: Dynamic programming, Kinematics, Manipulators, Optimization, Redundancy (Engineering), Redundant manipulators, Resolution (Optics), Actuators, Trajectories (Physics), Jacobian matrices
Journal Articles

A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

Pei Jiang, Shuihua Huang, Ji Xiang, Michael Z. Q. Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041009.
Paper No: JMR-16-1170
https://doi.org/10.1115/1.4036569
Published Online: May 15, 2017
View Article titled, A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints
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Topics: End effectors, Kinematics, Manipulators, Feedback, Redundant manipulators
Journal Articles

Dynamic Reconfiguration Manipulability for Redundant Manipulators

Mamoru Minami, Xiang Li, Takayuki Matsuno, Akira Yanou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061004.
Paper No: JMR-15-1211
https://doi.org/10.1115/1.4033667
Published Online: September 6, 2016
View Article titled, Dynamic Reconfiguration Manipulability for Redundant Manipulators
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Topics: Manipulators, Redundant manipulators, Torque, Robots, Dynamics (Mechanics), Shapes
Journal Articles

A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators

Jun Wu, Binbin Zhang, Liping Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021001.
Paper No: JMR-14-1237
https://doi.org/10.1115/1.4031500
Published Online: November 24, 2015
View Article titled, A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators
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Topics: Manipulators, Dynamic models, Redundant manipulators, Kinematics
Journal Articles

Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules

Emmanouil Tzorakoleftherakis, Anastasia Mavrommati, Anthony Tzes
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011002.
Paper No: JMR-14-1157
https://doi.org/10.1115/1.4030372
Published Online: August 18, 2015
View Article titled, Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules
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Topics: Actuators, Design, Kinematics, Manipulators, Robots, Wire, Redundant manipulators
Journal Articles

Actuation Torque Reduction in Parallel Robots Using Joint Compliance

Júlia Borràs, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021006.
Paper No: JMR-13-1080
https://doi.org/10.1115/1.4026628
Published Online: March 4, 2014
View Article titled, Actuation Torque Reduction in Parallel Robots Using Joint Compliance
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Topics: Engines, Jacobian matrices, Manipulators, Motors, Springs, Torque, Redundant manipulators
Journal Articles

Reconfiguration Manipulability Analyses for Redundant Robots

Tongxiao Zhang, Mamoru Minami, Osami Yasukura, Wei Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041001.
Paper No: JMR-10-1085
https://doi.org/10.1115/1.4024727
Published Online: July 16, 2013
View Article titled, Reconfiguration Manipulability Analyses for Redundant Robots
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Topics: End effectors, Manipulators, Redundant manipulators, Shapes, Theorems (Mathematics), Robots, Kinematics, Trajectories (Physics), Dimensions
Journal Articles

Optimal Inverse Kinematic Solutions for Redundant Manipulators by Using Analytical Methods to Minimize Position and Velocity Measures

M. Kemal Ozgoren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031009.
Paper No: JMR-12-1166
https://doi.org/10.1115/1.4024294
Published Online: June 24, 2013
View Article titled, Optimal Inverse Kinematic Solutions for Redundant Manipulators by Using Analytical Methods to Minimize Position and Velocity Measures
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Topics: Kinematics, Manipulators, Optimization, Redundant manipulators
Journal Articles

Overall Motion Planning for Kinematically Redundant Parallel Manipulators

Juan A. Carretero, Iman Ebrahimi, Roger Boudreau
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2012, 4(2): 024502.
https://doi.org/10.1115/1.4006523
Published Online: April 24, 2012
View Article titled, Overall Motion Planning for Kinematically Redundant Parallel Manipulators
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Topics: Actuators, Manipulators, Optimization, Path planning, Redundant manipulators, Trajectories (Physics), End effectors, Cyber-physical systems, Kinematics
Journal Articles

Derivation of Topological Graphs of Some Planar 4DOF Redundant Closed Mechanisms by Contracted Graphs and Arrays

Yi Lu, Ling Ding, Shuyan Li, Jianping Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031011.
https://doi.org/10.1115/1.4001735
Published Online: July 23, 2010
View Article titled, Derivation of Topological Graphs of Some Planar 4DOF Redundant Closed Mechanisms by Contracted Graphs and Arrays
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Topics: Actuators, Degrees of freedom, Stiffness, Topology, Elasticity, Redundant manipulators