Trajectory planning of redundant manipulators for minimum energy consumption without matrix inversion
AR Hirakawa, A Kawamura - Proceedings of International …, 1997 - ieeexplore.ieee.org
In this paper a method to solve the trajectory generation problem in redundant degree of
freedom manipulator has been proposed, and the variational approach within the B-spline …
freedom manipulator has been proposed, and the variational approach within the B-spline …
Optimal design of gear ratios and offset for energy conservation of an articulated manipulator
T Izumi, H Zhou, Z Li - IEEE transactions on automation science …, 2009 - ieeexplore.ieee.org
It is important to minimize the energy dissipated by the reduction gears and motors in a three-
jointed vertically articulated manipulator. This paper proposes an optimal design method for …
jointed vertically articulated manipulator. This paper proposes an optimal design method for …
Clarification on the computation of liveness-enforcing supervisor for resource allocation systems with uncontrollable behavior
H Hu, Z Li - IEEE transactions on automation science and …, 2009 - ieeexplore.ieee.org
In previous work, an acceptable transformation of an unacceptable specification on a Petri
net can be implemented through a set of mathematical programming formulations. However …
net can be implemented through a set of mathematical programming formulations. However …
Path planning for saving energy of a manipulator in PTP motions
T Izumi - Journal of the Robotics Society of Japan, 2000 - jstage.jst.go.jp
抄録 It is important to save the dissipated energy even of a manipulators for improving the
environment of the earth which is warmed up by CO 2 gas emitted from thermal power …
environment of the earth which is warmed up by CO 2 gas emitted from thermal power …
Minimum energy path search for a manipulator in consideration of all nonlinear characteristics by GA and its experiments
T Izumi, Y Yokose, R Tamai - Electrical Engineering in Japan, 2006 - Wiley Online Library
The dissipated energy even of a manipulator must be decreased in order to improve the
environment of the earth. This paper describes an optimal path which minimizes the …
environment of the earth. This paper describes an optimal path which minimizes the …
An Optimization-Based Approach for Redundancy Resolution of Spatial Robots in Realistic Working Environments
Redundant manipulators possess more degree of freedom (DOF) than the required to
accomplish a particular task. The characteristic feature of redundant manipulators allows for …
accomplish a particular task. The characteristic feature of redundant manipulators allows for …
Optimal trajectory planning for redundant manipulators based on minimum jerk
This paper presents an optimization-based method to solve the smooth trajectory planning
problem where the user knows only the start and end points of the end-effector or the via …
problem where the user knows only the start and end points of the end-effector or the via …
Determining the initial configuration of uninterrupted redundant manipulator trajectories in a manufacturing environment
In a manufacturing environment where a redundant manipulator is programmed to follow a
specific trajectory such as welding, painting, and soldering, it is often the case that the …
specific trajectory such as welding, painting, and soldering, it is often the case that the …
Comparison of various balance systems for energy conservation in a vertically articulated manipulator with three joints
T Izumi, J Amano, Y Zhu - Advanced Robotics, 2007 - Taylor & Francis
It is important to conserve dissipated energy from machines in order to reduce global
warming. This paper discusses energy conservation in a vertically articulated three-joint …
warming. This paper discusses energy conservation in a vertically articulated three-joint …
Design of the counterbalances minimizing the dissipated energy of a vertically articulated manipulator
J Amano, T Izumi - Journal of the Robotics Society of Japan, 2004 - jstage.jst.go.jp
It is important to save the dissipated energy even of a manipulator for suppressing the
exhaust gas of CO2. This paper discusses the design method for the counterbalances of the …
exhaust gas of CO2. This paper discusses the design method for the counterbalances of the …