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[HTML][HTML] Machine learning-based framework for optimally solving the analytical inverse kinematics for redundant manipulators
MN Vu, F Beck, M Schwegel, C Hartl-Nesic, A Nguyen… - Mechatronics, 2023 - Elsevier
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a
difficult problem in robotics since its solution for a given target pose is not unique. Moreover …
difficult problem in robotics since its solution for a given target pose is not unique. Moreover …
Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation
T **, H Zhu, J Zhu, S Zhu, Z He… - IEEE Transactions …, 2024 - ieeexplore.ieee.org
High DoF mobile manipulation of robots is a nonlinear, nonchain redundant problem. In this
article, we focus on two subissues of robot mobile manipulation: whole-body inverse …
article, we focus on two subissues of robot mobile manipulation: whole-body inverse …
A cyclic differentiable manifold representation of redundant manipulator kinematics
EJ Haug - J. Mech. Robot, 2024 - asmedigitalcollection.asme.org
An inverse kinematic map** for redundant serial manipulators is presented at the
configuration level, for which periodic manipulator operational trajectories map into periodic …
configuration level, for which periodic manipulator operational trajectories map into periodic …
Metaheuristic-based RNN for manipulability optimization of redundant manipulators
Manipulability optimization plays a crucial role in the kinematic control of redundant
manipulators, as it reduces their risks of entering a singular state. However, manipulability is …
manipulators, as it reduces their risks of entering a singular state. However, manipulability is …
A Cerebellum-Inspired Control Scheme for Kinematic Control of Redundant Manipulators
X Chen, L **, B Hu - IEEE Transactions on Industrial …, 2023 - ieeexplore.ieee.org
Due to the redundancy, the kinematic control of redundant manipulators is a knotty issue in
the field of robotics. The cerebellar computation sheds a new light on controlling redundant …
the field of robotics. The cerebellar computation sheds a new light on controlling redundant …
[HTML][HTML] Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators
G Zhao, B Tao, D Jiang, J Yun, H Fan - Biomimetics, 2024 - pmc.ncbi.nlm.nih.gov
The inverse kinematics of robotic manipulators involves determining an appropriate joint
configuration to achieve a specified end-effector position. This problem is challenging …
configuration to achieve a specified end-effector position. This problem is challenging …
Extensively explored and evaluated actor-critic with expert-guided policy learning and fuzzy feedback reward for robotic trajectory generation
Trajectory generation for redundant manipulators based on inverse kinematics (IK) still faces
some restraints, as it lacks universal IK calculation or specific trajectory generation methods …
some restraints, as it lacks universal IK calculation or specific trajectory generation methods …
A fuzzy adaptive zeroing neural network model with event-triggered control for time-varying matrix inversion
J Dai, P Tan, L **ao, L Jia, Y He… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
Time-varying matrix inversion (TVMI) is a basic mathematical problem, which is widely
involved in many scientific fields. In this article, an event-triggered control fuzzy adaptive …
involved in many scientific fields. In this article, an event-triggered control fuzzy adaptive …
Multi-segment trajectory tracking of the redundant space robot for smooth motion planning based on interpolation of linear polynomials with parabolic blend
A Shrivastava, VK Dalla - Proceedings of the Institution of …, 2022 - journals.sagepub.com
This work presents multi-segment trajectory tracking of the redundant space robot for smooth
motion planning based on interpolation of linear polynomials with the parabolic blend. First …
motion planning based on interpolation of linear polynomials with the parabolic blend. First …
A closed-form inverse kinematic analytical method for seven-DOF space manipulator with aspheric wrist structure
G Zhao, B Tao, J Du, J Yun, H Fan - Machines, 2024 - search.proquest.com
The seven-degree-of-freedom space manipulator, characterized by its redundant and
aspheric wrist structure, is extensively used in space missions due to its exceptional …
aspheric wrist structure, is extensively used in space missions due to its exceptional …