Journal ArticleDOI
Analysis and Control of Articulated Robot Arms with Redundancy
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TLDR
In this article, the manipulatability and redundancy of multi-articulated robot arms are analyzed and utilization of redundancy is discussed, and experimental results are also presented concerning the use of redundancy for trajectory control with provisions for an obstacle.About:
This article is published in IFAC Proceedings Volumes.The article was published on 1981-08-01. It has received 153 citations till now. The article focuses on the topics: Articulated robot & Cartesian coordinate robot.read more
Citations
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Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Journal ArticleDOI
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
TL;DR: In this paper, the joint angle rates for a manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria.
Journal ArticleDOI
Redundancy resolution of manipulators through torque optimization
John M. Hollerbach,Ki Suh +1 more
TL;DR: Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined, and a whiplash action develops over time that thrusts the endpoint off the intended path, and extremely high torques are required to overcome these natural movement dynamics.
Journal ArticleDOI
Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators
TL;DR: A new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities and is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
Proceedings ArticleDOI
Kinematic programming alternatives for redundant manipulators
TL;DR: It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators.
References
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Journal ArticleDOI
Resolved Motion Rate Control of Manipulators and Human Prostheses
TL;DR: The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
Book ChapterDOI
On the Design of Computer Controlled Manipulators
TL;DR: This paper summarizes results of studies made of mechanical manipulators for use under computer control, and gives the reader an overview of problems associated with the design, kinematics and control of mechanical manipulation.
Related Papers (5)
Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more