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