Inverse kinematic solutions with singularity robustness for robot manipulator control
Citations
933 citations
Cites background from "Inverse kinematic solutions with si..."
...Since pseudoinverse solutions often cause unstable motions near singularities (Nakamura and Hanafusa 1986), the robot manipulator will stop or oscillate before t = 8 s if we...
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647 citations
Cites background from "Inverse kinematic solutions with si..."
...Computational aspects of the solutions are also discussed in view of real-time implementation of a kinematic control algorithm....
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614 citations
Cites background from "Inverse kinematic solutions with si..."
...To overcome this drawback, the generalized inverse should rather be a damped least-squares inverse [16,17] that allows to limit joint velocities in the neighborhood of singularities at the expenses of small tracking errors....
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581 citations
Cites methods from "Inverse kinematic solutions with si..."
...In order to overcome this drawback, Wampler (1986) and Nakamura and Hanafusa (1986) independently proposed the use of a damped least-square inverse of the Jacobian matrix in the form of J* = j r ( j j r + 2Zl)-~, corresponding to a modified Jacobian that is nonsingular in the whole workspace....
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377 citations
Cites background from "Inverse kinematic solutions with si..."
...Of particular interest then is the solution with minimum norm, q̇1 = arg min x 1 2 ‖x‖2 (3) s.t. A1x = b1 (4) with A1 = ∂f1(q)/∂q, b1 = −λf1(q) (the ODE is only reformulated here in the constraint (4) without any modification)....
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