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Academic literature on the topic 'Redundancy of Degrees of Freedom'

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Published: 11 March 2023

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Journal articles on the topic "Redundancy of Degrees of Freedom"

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BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.

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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematic model of the robotic arm in the MATLAB and Simulink environment is presented. A method of resolving the redundancy of a seven degrees of freedom robotic arm when a degree of freedom has a known variation is presented. The kinematic analysis and virtual simulation share similar results.
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Kazerooni, H., K. G. Bouklas, and J. Guo. "Theory and Experiments on the Compliance Control of Redundant Robot Manipulators." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 653–60. http://dx.doi.org/10.1115/1.2896191.

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This work presents a control methodology for compliant motion in redundant robot manipulators. This control approach takes advantage of the redundancy in the robot’s degrees of freedom: while a maximum six degrees of freedom of the robot control the robot’s endpoint position, the remaining degrees of freedom impose an appropriate force on the environment. To verify the applicability of this control method, an active end-effector is mounted on an industrial robot to generate redundancy in the degrees of freedom. A set of experiments are described to demonstrate the use of this control method in constrained maneuvers. The stability of the robot and the environment is analyzed.
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Potkonjak, V., and T. Petrović. "Contribution to robots control with parallel degrees of freedom." Robotica 12, no. 6 (November 1994): 569–73. http://dx.doi.org/10.1017/s026357470001691x.

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SummaryThis paper considers some problems concerning the motion and the control of large robots. The problem arises when highly nonuniform motion is required. It results in too strong dynamic loads and the robot cannot operate successfully. The solution is found in the introduction of redundancy in the form of parallel degrees of freedom. Kinematics of such a system follows the distributed positioning concept. The control scheme is developed for a one-dimensional redundant robot.
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Huo, Liguo, and Luc Baron. "KINEMATIC INVERSION OF FUNCTIONALLY-REDUNDANT SERIAL MANIPULATORS: APPLICATION TO ARC-WELDING." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 679–90. http://dx.doi.org/10.1139/tcsme-2005-0045.

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This paper introduces the concept of functional redundancy of serial manipulators, and presents a new resolution scheme to solve such redundant robotic tasks requiring less than six degrees-of-freedom. Instead of projecting the secondary task onto the null space of the Jacobian matrix in order to take advantage of the redundancy, the twist of end-effector is directly decomposes into two orthogonal subspaces where the main and secondary tasks lie, respectively. The algorithm has shown to be computationally efficient and well suited to solve functionally-redundant robotic tasks, such as arc-welding.
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Wilhelm, Nikolas, Rainer Burgkart, Jan Lang, Carina Micheler, and Constantin von Deimling. "Exploiting null space potentials to control arm robots compliantly performing nonlinear tactile tasks." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141988547. http://dx.doi.org/10.1177/1729881419885473.

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In this article, two new compliant control architectures are introduced that utilize null space solutions to decouple force and position control. They are capable to interact with uncertain surfaces and environments with varying materials and require fewer parameters to be tuned than the common architectures – hybrid or impedance control. The general concept behind these approaches allows to consider manipulators with six degrees of freedom as redundant by creating a virtual redundancy with a reduced work space. It will be demonstrated that the introduced approaches are superior regarding orthogonal separation of the Cartesian degrees of freedom and avoid inner singularities. To demonstrate their performance, the controllers are tested on a standard industrial robot (Stäubli, RX90B, six degrees of freedom) that actuates two different biomechanically inspired models of the human knee joint.
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Dounskaia, Natalia, and Wanyue Wang. "A preferred pattern of joint coordination during arm movements with redundant degrees of freedom." Journal of Neurophysiology 112, no. 5 (September 1, 2014): 1040–53. http://dx.doi.org/10.1152/jn.00082.2014.

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Redundancy of degrees of freedom (DOFs) during natural human movements is a central problem of motor control research. This study tests a novel interpretation that during arm movements, the DOF redundancy is used to support a preferred, simplified joint control pattern that consists of rotating either the shoulder or elbow actively and the other (trailing) joint predominantly passively by interaction and gravitational torques. We previously revealed the preference for this control pattern during nonredundant horizontal arm movements. Here, we studied whether this preference persists during movements with redundant DOFs and the redundancy is used to enlarge the range of directions in which this control pattern can be utilized. A free-stroke drawing task was performed that involved production of series of horizontal center-out strokes in randomly selected directions. Two conditions were used, with the arm's joints unconstrained (U) and constrained (C) to the horizontal plane. In both conditions, directional preferences were revealed and the simplified control pattern was used in the preferred and not in nonpreferred directions. The directional preferences were weaker and the range of preferred directions was wider in the U condition, with higher percentage of strokes performed with the simplified control pattern. This advantage was related to the usage of additional DOFs. We discuss that the simplified pattern may represent a feedforward control strategy that reduces the challenge of joint coordination caused by signal-dependent noise during movement execution. The results suggest a possibility that the simplified pattern is used during the majority of natural, seemingly complex arm movements.
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Wu, J., J.-S. Wang, L.-P. Wang, and T.-M. Li. "Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 221, no. 8 (August 1, 2007): 961–69. http://dx.doi.org/10.1243/09544062jmes456.

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The current paper deals with the dexterity and stiffness of a three-degree of freedom (DOF) planar parallel manipulator with actuation redundancy, which is a subpart of a four-DOF-hybrid machine tool. Based on the kinematics, the dexterity is analysed. The stiffness indices, which are the maximum deflection of the moving platform under the action of a unit force and the minimum eigenvalue of the stiffness matrix of the manipulator, are presented for investigating the stiffness. According to the minimum eigenvalue index, it is proved that actuation redundancy can improve the stiffness of the parallel manipulator. Moreover, the relationship between the singular configuration and the stiffness of the parallel manipulator is discussed. Compared with the corresponding non-redundant parallel manipulator without the redundant link, the redundantly actuated parallel manipulator has better dexterity and higher stiffness.
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Boscariol, Paolo, Roberto Caracciolo, Dario Richiedei, and Alberto Trevisani. "Energy Optimization of Functionally Redundant Robots through Motion Design." Applied Sciences 10, no. 9 (April 26, 2020): 3022. http://dx.doi.org/10.3390/app10093022.

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This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than the number of available degrees of freedom, the motion of the extra degrees of freedom can be tailored to enhance a performance metric. This work showcases a method that can be used to effectively enhance the energy efficiency through motion design, using a detailed dynamic model of the UR5 serial robot arm. The method is based on an optimization of the motion profile, using a parametrized description of the end-effector orientation: the results showcase an increased efficiency that allows energy savings up to 20.8%, according to the energy consumption results according to the electro-mechanical dynamic model of the robot.
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Borovinskaya, Ekaterina. "Redundancy-Free Models for Mathematical Descriptions of Three-Phase Catalytic Hydrogenation of Cinnamaldehyde." Catalysts 11, no. 2 (February 4, 2021): 207. http://dx.doi.org/10.3390/catal11020207.

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A new approach on how to formulate redundancy-free models for mathematical descriptions of three-phase catalytic hydrogenation of cinnamaldehyde is presented. An automatically created redundant (generalized) model is formulated according to the complete reaction network. Models based on formal kinetics and kinetics concerning the Langmuir-Hinshelwood theory for three-phase catalytic hydrogenation of cinnamaldehyde were investigated. Redundancy-free models were obtained as a result of a step-by-step elimination of model parameters using sensitivity and interval analysis. Starting with 24 parameters in the redundant model, the redundancy-free model based on the Langmuir-Hinshelwood mechanism contains 6 parameters, while the model based on formal kinetics includes only 4 parameters. Due to less degrees of freedom of molecular rotation in the adsorbed state, the probability of a direct conversion of cinnamaldehyde to 3-phenylpropanol according to the redundancy-free model based on Langmuir-Hinshelwood approach is practically negligible compared to the model based on formal kinetics.
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KHOUKHI, Amar, Luc BARON, and Marek BALAZINSKI. "A PROJECTED GRADIENT AUGMENTED LAGRANGIAN APPROACH TO MULTI-OBJECTIVE TRAJECTORY PLANNING OF REDUNDANT ROBOTS." Transactions of the Canadian Society for Mechanical Engineering 31, no. 4 (December 2007): 391–405. http://dx.doi.org/10.1139/tcsme-2007-0028.

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In this paper, a multi-objective trajectory planning system is developed for redundant manipulators. This system involves kinematic redundancy resolution, as well as robot dynamics, including actuators model. The kinematic redundancy is taken into account through a secondary criterion of joint limits avoidance. The optimization procedure is performed subject to limitations on actuator torques and workspace, while passing through imposed poses. The Augmented Lagrangian with decoupling (ALD) technique is used to solve the resulting constrained non-convex and non-linear optimal control problem. Furthermore, the final state constraint is solved using a gradient projection. Simulations on a three degrees of freedom planar redundant serial manipulator show the effectiveness of the proposed system.
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Dissertations / Theses on the topic "Redundancy of Degrees of Freedom"

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Wang, Yu-Cheng. "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5793.

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A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.
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Alqasemi, Redwan M. "Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002004.

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Eklund, Elin. "Cykeltidsoptimering av sjuaxligt robotsystem." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2756.

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This master thesis studies how much the cycle time, i.e. the time it takes for an industrial robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the robot simulation tool RobotStudio.

To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic. An algorithm has been developed to solve the problem. Two different optimization methods have been examined and compared.

The resulting algorithm has been applied to test cases. The results show that the cycle time in several cases can be reduced by 20-30 percent, if the movements along the track are optimized with the suggested method.

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Patterson, Timothy Fredrick. "Reduction of compliance in space-based redundant degree-of-freedom manipulators." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/18396.

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Keselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.

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Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.
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Ahmed, Abu Hanieh. "Multi degrees of freedom vibration isolation." Doctoral thesis, Universite Libre de Bruxelles, 2001. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/211553.

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Pollmann, Frank. "Charge degrees of freedom on frustrated lattices." [S.l.] : [s.n.], 2006. http://deposit.ddb.de/cgi-bin/dokserv?idn=982205066.

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Jong, Boudewijn Ruben de. "A six degrees of freedom MEMS manipulator." Enschede : University of Twente [Host], 2006. http://doc.utwente.nl/57599.

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Borade, Shashibhushan Prataprao 1981. "Maximizing degrees of freedom in wireless networks." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/16692.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.
Includes bibliographical references (p. 61-63).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
We consider communication from a single source to a single destination in a wireless network with fading. Both source and destination have multiple antennas. The information reaches the destination through a sequence of layers of single-antenna relays. A non-separation-based strategy is proposed and shown to achieve a rate equal to the capacity of a point-to-point multiantenna system in the high SNR regime. This implies that lack of coordination between relay nodes does not reduce the achievable rate at high SNR. We then derive the tradeoffs between network size and rate. We also derive the rate-diversity tradeoff for this network and study how it is affected by the network size. This shows that increasing network size is much more difficult when the codelength does not span a large number of fading realizations. Finally some implications to ad-hoc networks are discussed.
by Shashibhushan Prataprao Borade.
S.M.
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Hagio, Shota. "Muscle synergy for coordinating redundant motor system." Kyoto University, 2016. http://hdl.handle.net/2433/215620.

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Kyoto University (京都大学)
0048
新制・課程博士
博士(人間・環境学)
甲第19794号
人博第765号
新制||人||184(附属図書館)
27||人博||765(吉田南総合図書館)
32830
京都大学大学院人間・環境学研究科共生人間学専攻
(主査)教授 神﨑 素樹, 教授 森谷 敏夫, 教授 石原 昭彦
学位規則第4条第1項該当
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Books on the topic "Redundancy of Degrees of Freedom"

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Degrees of freedom. Treadwell, N.Y: Bright Hill Press, 2006.

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University of Alberta. Strategic Planning Task Force. Degrees of freedom. Edmonton, Alta: University of Alberta, 1993.

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Morden, Simon. Degrees of freedom. London: Orbit, 2011.

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Morden, Simon. Degrees of freedom. New York: Orbit, 2011.

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University of Alberta. Strategic Planning Task Force. Degrees of freedom: Supplement. Edmonton, Alta: University of Alberta, 1993.

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Williams, Robert L. Local performance optimization for a class of redundant eight-degree-of-freedom manipulators. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1994.

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Beth, Mintz, and Rothblum Esther D, eds. Lesbians in academia: Degrees of freedom. New York: Routledge, 1997.

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M, Eisenberg Judah, ed. Quantum mechanics of many degrees of freedom. New York: Wiley, 1988.

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Karlsson, E. B. Scattering by entangled spatial degrees of freedom. Chilton: Rutherford Appleton Laboratory, 2001.

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United States. National Aeronautics and Space Administration. Scientific and Technical Information Program., ed. Kinematic equations for control of the redundant eight-degree-of-freedom advanced research manipulator II. [Washington, DC]: National Aeronautics and Space Administration, Office of Management, Scientific and Technical Information Program, 1992.

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Book chapters on the topic "Redundancy of Degrees of Freedom"

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Gielen, Stan. "Coordination of Redundant Manipulators: Reduction of Degrees of Freedom." In Prerational Intelligence: Adaptive Behavior and Intelligent Systems Without Symbols and Logic, Volume 1, Volume 2 Prerational Intelligence: Interdisciplinary Perspectives on the Behavior of Natural and Artificial Systems, Volume 3, 305–22. Dordrecht: Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-010-0870-9_21.

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Shayya, Samah, Sébastien Krut, Olivier Company, Cédric Baradat, and François Pierrot. "Dynamic Analysis of 4 Degrees of Freedom Redundant Parallel Manipulator." In Advances in Robot Kinematics, 545–53. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_56.

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Fu, Qiushi, and Marco Santello. "Learning Interference in Dynamic Manipulation with Redundant Degrees of Freedom." In Converging Clinical and Engineering Research on Neurorehabilitation II, 457–61. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46669-9_76.

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Dutta, P. S., and Tin-Lup Wong. "Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom." In CAD/CAM Robotics and Factories of the Future, 139–43. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-642-52326-7_24.

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Dutta, P. S., and Tin-Lup Wong. "Inverse Kinematic Analysis of Moving Base Robot with Redundant Degrees of Freedom." In CAD/CAM Robotics and Factories of the Future, 139–43. Berlin, Heidelberg: Springer Berlin Heidelberg, 1989. http://dx.doi.org/10.1007/978-3-662-39962-0_24.

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Wang, Gang, Jingchao Jia, Jifu Wen, Chengyao Zhang, and Honglei Che. "Accuracy Analysis and Synthesis of Multi Joint Serial Robot with Redundant Degrees of Freedom." In Lecture Notes in Electrical Engineering, 3439–48. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-6613-2_334.

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Greiner, Walter. "Degrees of Freedom." In Classical Mechanics, 41–42. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-03434-3_4.

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Loeb, Arthur L. "Degrees of Freedom." In Space Structures, 29–38. Boston, MA: Birkhäuser Boston, 1991. http://dx.doi.org/10.1007/978-1-4612-0437-4_6.

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Upchurch Sweeney, C. Renn, J. Rick Turner, J. Rick Turner, Chad Barrett, Ana Victoria Soto, William Whang, Carolyn Korbel, et al. "Degrees of Freedom." In Encyclopedia of Behavioral Medicine, 549. New York, NY: Springer New York, 2013. http://dx.doi.org/10.1007/978-1-4419-1005-9_1002.

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Turner, J. Rick. "Degrees of Freedom." In Encyclopedia of Behavioral Medicine, 613–14. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-39903-0_1002.

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Conference papers on the topic "Redundancy of Degrees of Freedom"

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Gogu, Grigore. "Fully-Isotropic Redundantly-Actuated Parallel Wrists With Three Degrees of Freedom." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34237.

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The paper presents fully-isotropic redundantly-actuated parallel wrists (RaPWs) with three degrees of freedom. The mobile platform has three independent rotations. A method is proposed for structural synthesis of fully-isotropic RaPWs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian mapping the two vector spaces of fully-isotropic RaPWs presented in this paper is 3×3 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. Redundant actuation is used to obtain fully-isotropic parallel wrists with three degrees of freedom. As far as we are aware, this paper presents for the first time in the literature the use of redundancy to design fully-isotropic parallel wrists as well as solutions of fullyisotropic RaPWs with three degrees of freedom.
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Martin, D. P., and J. Baillieul. "Coordinating Kinematically Redundant Degrees of Freedom." In 1990 American Control Conference. IEEE, 1990. http://dx.doi.org/10.23919/acc.1990.4790729.

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Chung, C. L., and S. Desa. "A Global Approach for Using Kinematic Redundancy to Minimize Base Reactions of Manipulators." In ASME 1989 Design Technical Conferences. American Society of Mechanical Engineers, 1989. http://dx.doi.org/10.1115/detc1989-0138.

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Abstract An important consideration in the use of manipulators in Microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which has been proposed and implemented is to use the redundant degrees of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. In this paper we develop a global approach for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. We also compare the global approach with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results of study show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.
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Malik, Akhtar N., Jian S. Dai, and Gordon R. Pennock. "Constraint Redundancy in Mobility of Parallel Manipulators." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49759.

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This paper presents a systematic approach to obtain the degrees of freedom (DOF) of the platforms of parallel manipulators. The paper begins with general Kutzbach criterion for mobility. With simple mathematical transformations this criterion is modified to incorporate number of parallel legs used in the parallel platform-type mechanism and the number of joints in the legs. The theory of screws is used to study the freedom of the joints in the individual legs and the mobility of the platform. It is established that the general Kutzbach mobility criterion does not cater for situations where the freedom screws (or constraint screws) of the joints in a leg become dependent on the freedom screws (or constraint screws) of one or more of the other legs; thus, altering the mobility of the platform. The general modified Kutzbach mobility formula is further modified to resolve the problem of redundant constraints. The paper then provides a systematic approach towards the number synthesis of parallel platform-type mechanims. The paper includes three examples of such mechanisms analyzed by this approach. Results agree with the existing studies carried out on the mechanism used in the examples. A numerical example of a three-degree-of-freedom parallel manipulator with three legs is used to show the enumeration of all possible parallel manipulators. This includes cases with and without redundant constraints.
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Kim, W., and J. Rastegar. "Trajectory Synthesis and Redundancy Resolution for High Speed Point to Point Motions of Redundant Robot Manipulators." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/dac-3864.

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Abstract Trajectory synthesis for robot manipulators with redundant kinematic degrees-of-freedom has been studied by numerous investigators. Redundant manipulators are of interest since the redundant degrees-of-freedom can be used to improve the local and global kinematic and dynamic performance of a system. As a robot manipulator is forced to track a given trajectory, the required actuating torques (forces) may excite the natural modes of vibration of the system. Noting that manipulators with revolute joints have nonlinear dynamics, high harmonic excitation torques are generally generated even though such harmonics have been eliminated from the synthesized trajectories and filtered from the drive inputs. In this paper, a redundancy resolution method is developed based on the Trajectory Pattern Method (TPM) to synthesize trajectories such that the actuating torques required to realize them do not contain higher harmonic components with significant amplitudes. With such trajectories, a robot manipulator can operate at higher speeds and achieve higher tracking accuracy with suppressed residual vibration. As an example, optimal trajectories are synthesized for point to point motions of a plane 3R manipulator.
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Schreiber, Louis-Thomas, and Clément Gosselin. "Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85322.

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This paper presents trajectory planning methods for a kinematically redundant parallel mechanism. The architecture of the mechanism is similar to the well-known Gough-Stewart platform and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The kinematic redundancy is exploited to avoid singularities and extend the rotational workspace. The architecture is described and the associated kinematic relationships are presented. Solutions for the inverse kinematics are given, as well as strategies to take into account the limitations of the mechanism such as mechanical interferences and velocity limits of the actuators while controlling the redundant degrees of freedom.
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Alpert, Lior, and Yoram Halevi. "Minimum Energy Control of Redundant Manipulators With Axes Coupling and Compounded Path." In ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/esda2014-20171.

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In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom and this freedom can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. It extends previous results by considering more general cases of possible coupling between the axes, e.g. three axes for planar motion, and more general paths comprising of several primitive motions connected dynamically. The solution is based on projections into lower subspaces that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.
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Ravi, V. C., Subrata Rakshit, and Ashitava Ghosal. "Redundancy Resolution Using Tractrix: Simulations and Experiments." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86934.

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Hyper-redundant robots are characterized by the presence of a large number of actuated joints, many more than the number required to perform a given task. These robots have been proposed and used for many application involving avoiding obstacles or, in general, to provide enhanced dexterity in performing tasks. Making effective use of the extra degrees of freedom or resolution of redundancy have been an extensive topic of research and several methods have been proposed in literature. In this paper, we compare three known methods and show that an algorithm based on a classical curve called the tractrix leads to a more ‘natural’ motion of the hyper-redundant robot with the displacements diminishing from the end-effector to the fixed base. In addition, since the actuators at the base ‘see’ the inertia of all links, smaller motion of the actuators nearer to the base results in a smoother motion of the end-effector as compared to other two approaches. We present simulation and experimental results performed on a prototype eight link planar hyper-redundant manipulator.
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Kapoor, Chetan, Murat Cetin, and Delbert Tesar. "Performance Based Redundancy Resolution With Multiple Criteria." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5864.

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Abstract This paper presents a scaleable approach to redundancy resolution problems involving multiple criteria. The proposed scheme relies on the disintegration of the inverse kinematics solution from multicriteria decision making. The scheme is composed of systematic generation of a set of inverse kinematics solutions and evaluating these solutions using multiple criteria. The proposed approach is especially promising for problems that can accommodate extensive number of criteria. Weights assigned to different criteria are monitored and adjusted to achieve desired performance goals. The scheme is implemented using an object-oriented operational software framework, and its functionality is tested under interactive real-time control of a 10 degrees of freedom manipulator.
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Halevi, Yoram, Emanuele Carpanzano, and Giuseppe Montalbano. "Minimum Energy Control of Redundant Cartesian Manipulators." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82066.

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In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof). The redundancy is used in this paper to minimize energy consumption. A full electromechanical model is used, and the invested energy is calculated explicitly. The optimization includes also displacement limits via penalty functions that are included in the cost function. The solution is based on separating the system and the input into two parts. One that is completely determined by the end-effector path and the other that is driven by it, yet free for optimization. The boundary conditions are resolved in a similar manner, where the physical values are translated to the scaled down system by using a specific projection. Simulation results show that even with limited joint motion, the redundancy can lead to a considerable saving in energy.
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Reports on the topic "Redundancy of Degrees of Freedom"

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Lichtenberg, Allan J. Stochastic Motion in Many Degrees of Freedom. Fort Belvoir, VA: Defense Technical Information Center, June 1997. http://dx.doi.org/10.21236/ada327244.

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Dawid, Richard. Holographic cosmology and its relevant degrees of freedom. Office of Scientific and Technical Information (OSTI), July 1999. http://dx.doi.org/10.2172/840216.

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Foias, C. The asymptotic degrees of freedom of fluid flows. Office of Scientific and Technical Information (OSTI), September 1990. http://dx.doi.org/10.2172/6283198.

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Yeh, Peter Derek. Six Degrees of Freedom (6DOF) Simulations of Supersonic Fragment Trajectories. Office of Scientific and Technical Information (OSTI), January 2020. http://dx.doi.org/10.2172/1597202.

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Martens, Agnieszka. Affine Models of Internal Degrees of Freedom and their Quantization. GIQ, 2015. http://dx.doi.org/10.7546/giq-16-2015-207-218.

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R. Lourie and G. A. Warren. Polarization degrees of freedom in electronuclear reactions. Final technical report. Office of Scientific and Technical Information (OSTI), December 1998. http://dx.doi.org/10.2172/760097.

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Kott, Phillip S. The Degrees of Freedom of a Variance Estimator in a Probability Sample. RTI Press, August 2020. http://dx.doi.org/10.3768/rtipress.2020.mr.0043.2008.

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Inferences from probability-sampling theory (more commonly called “design-based sampling theory”) often rely on the asymptotic normality of nearly unbiased estimators. When constructing a two-sided confidence interval for a mean, the ad hoc practice of determining the degrees of freedom of a probability-sampling variance estimator by subtracting the number of its variance strata from the number of variance primary sampling units (PSUs) can be justified by making usually untenable assumptions about the PSUs. We will investigate the effectiveness of this conventional and an alternative method for determining the effective degrees of freedom of a probability-sampling variance estimator under a stratified cluster sample.
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Iaroshenko, Oleksandr, Vitaliy Gyrya, and Gianmarco Manzini. Arbitrary Order Mixed Mimetic Finite Differences Method with Nodal Degrees of Freedom. Office of Scientific and Technical Information (OSTI), September 2016. http://dx.doi.org/10.2172/1321697.

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Tracy, E. R., and Reggie Brown. Improved Techniques for Modeling and Controlling Nonlinear Systems with Few Degrees of Freedom. Fort Belvoir, VA: Defense Technical Information Center, March 1998. http://dx.doi.org/10.21236/ada340951.

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Johnson, Calvin W. Competing degrees of freedom in nuclear structure theory. Final Report for 1999-2002. Office of Scientific and Technical Information (OSTI), July 2003. http://dx.doi.org/10.2172/821149.

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