Questions tagged [redundant-robots]

Robotic systems that have more components or individuals to accomplish a task are called redundant-robots.

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Recommendations for a robot for scanning in a 2D plane

I'm new to robots and struggling to find information (buy) and sources on what we're looking for (or what we are trying to accomplish) for an idea (proof of concept) we want to test. We really don't ...
PVTest's user avatar
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definition of self motion

From my understanding, self motion refers to a set of joint velocities which doesn't cause any cartesian motion on the end-effector. Here, by motion it is meant both linear and angular components or ...
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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 ...
lakis21's user avatar
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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 ...
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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 ...
Soren Holm's user avatar
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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 ...
Abhishek Dhyani's user avatar
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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 ...
Petch Puttichai's user avatar