4 citations · 7 across the 8 of their papers we have counts for
6 papers · 1 filter
Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators
Alexander J. Elias, John T. Wen
Seven degree-of-freedom (DOF) robot arms have one redundant DOF which does not change the motion of the end effector. The redundant DOF offers greater manipulability of the arm con…
High-Speed High-Accuracy Spatial Curve Tracking Using Motion Primitives in Industrial Robots
Honglu He, Chen-lung Lu, Yunshi Wen +5
Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and produ…
IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition
Alexander J. Elias, John T. Wen
This paper presents the open-source robot inverse kinematics (IK) solver IK-Geo, the fastest general IK solver based on published literature. In this unifying approach, IK for any…
Adaptive Neural Trajectory Tracking Control for Flexible-Joint Robots with Online Learning
Shuyang Chen, John Wen
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking acc…
Neural-Learning Trajectory Tracking Control of Flexible-Joint Robot Manipulators with Unknown Dynamics
Shuyang Chen, John T. Wen
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for…
Industrial Robot Trajectory Tracking Using Multi-Layer Neural Networks Trained by Iterative Learning Control
Shuyang Chen, John T. Wen
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allo…