Questions tagged [redundant-robots]
Robotic systems that have more components or individuals to accomplish a task are called redundant-robots.
5
questions
0
votes
0
answers
27
views
Dexterous Manipulation with Robotic Hand
I am currently working for my M.Sc. Thesis with the Allegro Hand with which I have to perform some simple in-hand manipulation tasks, such as lifting or rolling a cube with 2 or 3 fingers. This has to ...
0
votes
2
answers
90
views
Inverse kinematics for redundant robot
I'm currently doing some in-depth analysis based on this article.
Starting from a general inverse kinematics solution, the article gives an appropriate formula to compute a solution that takes into ...
1
vote
1
answer
44
views
Self motion with multiple constraints
I am trying to control a 7 DOF robot (a Franka Panda). I use jacobian based control (resolved rate motion control) to generate a joint trajectory from a cartesian trajectory.
My contraints for the ...
1
vote
1
answer
134
views
Urdf as a way to model dynamics?
Since urdf format serves the purpose of kinematic model but also extends for dynamical properties such as mass,moment of inertia and centre of masses, can it be considered a viable dynamical model of ...
1
vote
2
answers
289
views
Self-Motion Manifolds
In this paper by J. W. Burdick, the main result basically says that
for a redundant manipulator, infinity solutions corresponding to one end-effector pose can be grouped into a finite set of smooth ...