Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
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This article is published in Journal of Dynamic Systems Measurement and Control-transactions of The Asme.The article was published on 1986-09-01. It has received 1096 citations till now. The article focuses on the topics: Inverse kinematics & Parallel manipulator.read more
Citations
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Journal ArticleDOI
Singularity Avoidance for a Redundant Robot Using Fuzzy Motion Planning
TL;DR: In this article, a fuzzy motion planning algorithm is proposed to solve the inverse kinematic with singularity problem, and the position of five-axis robot manipulator is obtained using fuzzy motion mapping method.
Book ChapterDOI
One New Human-Robot Cooperation Method Based on Kinect Sensor and Visual-Servoing
TL;DR: A novel Human-robot cooperation method is developed, which falls in between full human control and full robot autonomy, and allows the robot to accomplish tasks effectively with the help of human.
Journal ArticleDOI
Dynamic modeling and design of controller for the 2-DoF serial chain actuated by a cable-driven robot based on feedback linearization:
TL;DR: From the simulation results it follows that, in the presence of bounded disturbance based on Roots Mean Square Error (RMSE) criteria, the PID controller has better performance and tracking error of the 2-DoF robot joints are improved 15.29% and 24.32%, respectively.
Proceedings ArticleDOI
Attitude control of spacecraft by NMPC with consideration of singularity avoidance of CMG
TL;DR: A method of attitude control is proposed that considers the avoidance of singularity by nonlinear model predictive control (NMPC) in response to singularity in CMGs.
DissertationDOI
Prioritized Multi-Objective Robot Control
TL;DR: This thesis provides numerous tools that endows existing and future robot systems with ever-increasing degrees of freedom to create complex motion aiming to interact with their environment effectively.