FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3080381063> ?p ?o ?g. }

• W3080381063 endingPage "104064" @default.
• W3080381063 startingPage "104064" @default.
• W3080381063 abstract "• Redundant robots are used to provide additional dexterity to avoid singularities. • The wrist module provides two redundant DOFs for an existing 6-DoF robot. • The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities. • Examples show that the 8-DoF robot can significantly reduce the joint velocities. Industrial arm-type robots have multiple degrees-of-freedom (DoFs), but the use of the roll-pitch-roll wrist configuration yields singularities inside the reachable workspace. Excessive joint velocities will occur and result in a poor path tracking response when encountering the wrist singularities. Arm-type robots currently do not have enough dexterity to move the end-effector path away from the wrist singularities. Robots with redundant DoFs can be used to provide additional dexterity required to avoid the singularities and reduce the excessive joint velocities. An end-effector wrist module is proposed to provide two redundant DoFs when interfaced with an existing 6-DoF robot. The new 8-DoF robot has a compact roll-pitch-yaw wrist that has no singularities inside the reachable workspace. Hence excessive joint velocities can be avoided. The highly redundant robot can also be used to avoid collisions in various directions. Three path tracking examples with experiments are provided to show the advantages of the proposed design when compared with existing redundant or non-redundant robots. We expect that this module can serve as a cost-effective solution in applications where singularity-free motion or collision-free motion is required" @default.
• W3080381063 created "2020-09-01" @default.
• W3080381063 creator A5000335005 @default.
• W3080381063 creator A5061940429 @default.
• W3080381063 creator A5064779642 @default.
• W3080381063 date "2021-01-01" @default.
• W3080381063 modified "2023-10-01" @default.
• W3080381063 title "An end-effector wrist module for the kinematically redundant manipulation of arm-type robots" @default.
• W3080381063 cites W1913033997 @default.
• W3080381063 cites W1977375951 @default.
• W3080381063 cites W1985544650 @default.
• W3080381063 cites W2012252188 @default.
• W3080381063 cites W2042913147 @default.
• W3080381063 cites W2047816957 @default.
• W3080381063 cites W2107848589 @default.
• W3080381063 cites W2113265921 @default.
• W3080381063 cites W2345097151 @default.
• W3080381063 cites W2416774217 @default.
• W3080381063 cites W2564845968 @default.
• W3080381063 cites W2767708052 @default.
• W3080381063 cites W2768566548 @default.
• W3080381063 cites W2781105378 @default.
• W3080381063 cites W2783470107 @default.
• W3080381063 cites W2789905221 @default.
• W3080381063 cites W2800839174 @default.
• W3080381063 cites W2889635921 @default.
• W3080381063 cites W2891671372 @default.
• W3080381063 cites W2911528113 @default.
• W3080381063 cites W2923302867 @default.
• W3080381063 cites W2945117614 @default.
• W3080381063 cites W2954078008 @default.
• W3080381063 cites W2974969778 @default.
• W3080381063 cites W2997099343 @default.
• W3080381063 cites W2999404624 @default.
• W3080381063 cites W1507305558 @default.
• W3080381063 doi "https://doi.org/10.1016/j.mechmachtheory.2020.104064" @default.
• W3080381063 hasPublicationYear "2021" @default.
• W3080381063 type Work @default.
• W3080381063 sameAs 3080381063 @default.
• W3080381063 citedByCount "3" @default.
• W3080381063 countsByYear W30803810632023 @default.
• W3080381063 crossrefType "journal-article" @default.
• W3080381063 hasAuthorship W3080381063A5000335005 @default.
• W3080381063 hasAuthorship W3080381063A5061940429 @default.
• W3080381063 hasAuthorship W3080381063A5064779642 @default.
• W3080381063 hasConcept C121332964 @default.
• W3080381063 hasConcept C126838900 @default.
• W3080381063 hasConcept C127413603 @default.
• W3080381063 hasConcept C12843 @default.
• W3080381063 hasConcept C134306372 @default.
• W3080381063 hasConcept C150415221 @default.
• W3080381063 hasConcept C154945302 @default.
• W3080381063 hasConcept C19966478 @default.
• W3080381063 hasConcept C208081375 @default.
• W3080381063 hasConcept C25592040 @default.
• W3080381063 hasConcept C2775924081 @default.
• W3080381063 hasConcept C2778216619 @default.
• W3080381063 hasConcept C33923547 @default.
• W3080381063 hasConcept C41008148 @default.
• W3080381063 hasConcept C44154836 @default.
• W3080381063 hasConcept C47446073 @default.
• W3080381063 hasConcept C58581272 @default.
• W3080381063 hasConcept C62520636 @default.
• W3080381063 hasConcept C71924100 @default.
• W3080381063 hasConcept C74222875 @default.
• W3080381063 hasConcept C8652668 @default.
• W3080381063 hasConcept C90509273 @default.
• W3080381063 hasConceptScore W3080381063C121332964 @default.
• W3080381063 hasConceptScore W3080381063C126838900 @default.
• W3080381063 hasConceptScore W3080381063C127413603 @default.
• W3080381063 hasConceptScore W3080381063C12843 @default.
• W3080381063 hasConceptScore W3080381063C134306372 @default.
• W3080381063 hasConceptScore W3080381063C150415221 @default.
• W3080381063 hasConceptScore W3080381063C154945302 @default.
• W3080381063 hasConceptScore W3080381063C19966478 @default.
• W3080381063 hasConceptScore W3080381063C208081375 @default.
• W3080381063 hasConceptScore W3080381063C25592040 @default.
• W3080381063 hasConceptScore W3080381063C2775924081 @default.
• W3080381063 hasConceptScore W3080381063C2778216619 @default.
• W3080381063 hasConceptScore W3080381063C33923547 @default.
• W3080381063 hasConceptScore W3080381063C41008148 @default.
• W3080381063 hasConceptScore W3080381063C44154836 @default.
• W3080381063 hasConceptScore W3080381063C47446073 @default.
• W3080381063 hasConceptScore W3080381063C58581272 @default.
• W3080381063 hasConceptScore W3080381063C62520636 @default.
• W3080381063 hasConceptScore W3080381063C71924100 @default.
• W3080381063 hasConceptScore W3080381063C74222875 @default.
• W3080381063 hasConceptScore W3080381063C8652668 @default.
• W3080381063 hasConceptScore W3080381063C90509273 @default.
• W3080381063 hasFunder F4320322795 @default.
• W3080381063 hasLocation W30803810631 @default.
• W3080381063 hasOpenAccess W3080381063 @default.
• W3080381063 hasPrimaryLocation W30803810631 @default.
• W3080381063 hasRelatedWork W11173291 @default.
• W3080381063 hasRelatedWork W13112619 @default.
• W3080381063 hasRelatedWork W13529637 @default.
• W3080381063 hasRelatedWork W1434859 @default.
• W3080381063 hasRelatedWork W4115008 @default.

• next