Matches in SemOpenAlex for { <https://semopenalex.org/work/W2053641201> ?p ?o ?g. }
Showing items 1 to 82 of
82
with 100 items per page.
- W2053641201 abstract "This paper concerns generation of motion for a redundant robot manipulator that shows stochastic behavior. Since a deterministic model is not sufficient to represent the motion of such manipulators, a stochastic model should be considered in the motion planning step. While classical approaches for robot control use the motion planning based on the deterministic model and then apply controls (e.g. the feedback control) to compensate the motion error, the new method developed in this paper considers the stochasticity of the system in the planning step for better results in terms of the motion error. This will lower the burden of the controller, resulting in more accurate control. This paper uses the stochastic model for the angle variables of robot joints. This gives the probability density function (pdf) for the position and the orientation of the robot end-effector. The goal of this paper is to find the optimal motion plan that enables the end-effector to follow a reference path with the minimized root-mean-square (RMS) error. To achieve this goal, the cost function that computes the RMS error is defined and then minimized with respect to the target angle values in the joint space. Using simulation of a 4DOF planar robot arm and a 7DOF spatial robot arm, we verify that the suggested method generates better motions than the classical inverse kinematics approach based on the deterministic model." @default.
- W2053641201 created "2016-06-24" @default.
- W2053641201 creator A5009324107 @default.
- W2053641201 creator A5075962780 @default.
- W2053641201 date "2014-08-17" @default.
- W2053641201 modified "2023-09-24" @default.
- W2053641201 title "Motion Planning for a Redundant Robot Manipulator With Stochasticity in Joints" @default.
- W2053641201 doi "https://doi.org/10.1115/detc2014-35544" @default.
- W2053641201 hasPublicationYear "2014" @default.
- W2053641201 type Work @default.
- W2053641201 sameAs 2053641201 @default.
- W2053641201 citedByCount "0" @default.
- W2053641201 crossrefType "proceedings-article" @default.
- W2053641201 hasAuthorship W2053641201A5009324107 @default.
- W2053641201 hasAuthorship W2053641201A5075962780 @default.
- W2053641201 hasConcept C10138342 @default.
- W2053641201 hasConcept C105795698 @default.
- W2053641201 hasConcept C121332964 @default.
- W2053641201 hasConcept C127491075 @default.
- W2053641201 hasConcept C154945302 @default.
- W2053641201 hasConcept C162324750 @default.
- W2053641201 hasConcept C17816587 @default.
- W2053641201 hasConcept C198082294 @default.
- W2053641201 hasConcept C203479927 @default.
- W2053641201 hasConcept C2775924081 @default.
- W2053641201 hasConcept C33923547 @default.
- W2053641201 hasConcept C39920418 @default.
- W2053641201 hasConcept C41008148 @default.
- W2053641201 hasConcept C47446073 @default.
- W2053641201 hasConcept C6557445 @default.
- W2053641201 hasConcept C74650414 @default.
- W2053641201 hasConcept C81074085 @default.
- W2053641201 hasConcept C8652668 @default.
- W2053641201 hasConcept C86803240 @default.
- W2053641201 hasConcept C90509273 @default.
- W2053641201 hasConceptScore W2053641201C10138342 @default.
- W2053641201 hasConceptScore W2053641201C105795698 @default.
- W2053641201 hasConceptScore W2053641201C121332964 @default.
- W2053641201 hasConceptScore W2053641201C127491075 @default.
- W2053641201 hasConceptScore W2053641201C154945302 @default.
- W2053641201 hasConceptScore W2053641201C162324750 @default.
- W2053641201 hasConceptScore W2053641201C17816587 @default.
- W2053641201 hasConceptScore W2053641201C198082294 @default.
- W2053641201 hasConceptScore W2053641201C203479927 @default.
- W2053641201 hasConceptScore W2053641201C2775924081 @default.
- W2053641201 hasConceptScore W2053641201C33923547 @default.
- W2053641201 hasConceptScore W2053641201C39920418 @default.
- W2053641201 hasConceptScore W2053641201C41008148 @default.
- W2053641201 hasConceptScore W2053641201C47446073 @default.
- W2053641201 hasConceptScore W2053641201C6557445 @default.
- W2053641201 hasConceptScore W2053641201C74650414 @default.
- W2053641201 hasConceptScore W2053641201C81074085 @default.
- W2053641201 hasConceptScore W2053641201C8652668 @default.
- W2053641201 hasConceptScore W2053641201C86803240 @default.
- W2053641201 hasConceptScore W2053641201C90509273 @default.
- W2053641201 hasLocation W20536412011 @default.
- W2053641201 hasOpenAccess W2053641201 @default.
- W2053641201 hasPrimaryLocation W20536412011 @default.
- W2053641201 hasRelatedWork W1520931958 @default.
- W2053641201 hasRelatedWork W1628025921 @default.
- W2053641201 hasRelatedWork W2024947263 @default.
- W2053641201 hasRelatedWork W2034084641 @default.
- W2053641201 hasRelatedWork W2042817602 @default.
- W2053641201 hasRelatedWork W2078696178 @default.
- W2053641201 hasRelatedWork W2095574989 @default.
- W2053641201 hasRelatedWork W2101025201 @default.
- W2053641201 hasRelatedWork W2113543531 @default.
- W2053641201 hasRelatedWork W2160929909 @default.
- W2053641201 hasRelatedWork W2164346001 @default.
- W2053641201 hasRelatedWork W2326203820 @default.
- W2053641201 hasRelatedWork W2488194908 @default.
- W2053641201 hasRelatedWork W2730021594 @default.
- W2053641201 hasRelatedWork W2735792470 @default.
- W2053641201 hasRelatedWork W3021785248 @default.
- W2053641201 hasRelatedWork W3033446824 @default.
- W2053641201 hasRelatedWork W3047080751 @default.
- W2053641201 hasRelatedWork W2964697596 @default.
- W2053641201 hasRelatedWork W3001874273 @default.
- W2053641201 isParatext "false" @default.
- W2053641201 isRetracted "false" @default.
- W2053641201 magId "2053641201" @default.
- W2053641201 workType "article" @default.