Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a
traditional serial robot, they have more degrees of freedom and can deform their flexible …

Different from traditional redundant manipulators, the redundant manipulators used in the
surgical environment require the end effector (EE) to have high pose (position and …

In this paper, a weighted additional deviation velocity on the basis of the gradient projection
(GP-WADV) method is proposed to solve obstacle avoidance problems of the redundant …

With multiple segments and associated universal joints, a segmented hyper-redundant
manipulator can perform on-orbital servicing tasks in confined space due to its superior …

Hyper-redundant manipulators have been widely used in the complex and cluttered
environment for achieving various kinds of tasks. In this article, we present two contributions …

This article proposes a novel kinematic calibration approach to address the ill-conditioned
identification matrix problem and enhance the accuracy of parallel manipulators (PMs). The …

The repetitive motion planning movements of the redundant manipulator will cause
oscillations and unintended swings of joints, which increase the risk of collisions between …

In solving specific problems, physical laws and mathematical theorems directly express the
connections between variables with equations/inequations. At times, it could be extremely …

针对多臂凿岩机器人在隧道工作中易发生碰撞事故的问题, 提出了一种多臂凿岩机器人的碰撞
检测算法. 该算法通过对机器人各机械臂间, 钻臂与隧道间的实时距离进行计算和碰撞判别 …

This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant
manipulators, and its basic idea is to use a static and a dynamic curve to constrain the …