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
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Proceedings ArticleDOI
Backstepping Control for Satellite Attitude Control Using Spherical Control Moment Gyro
TL;DR: This paper proposed a novel system that can reduce the singularity by applying a sphere instead of the gimbal structure and designed the backstepping controller based on the redesign Lyapunov function.
Book ChapterDOI
Kinematic Control of UVMSs
TL;DR: Underwater Vehicle-Manipulator System is always kinematically redundant due to the DOFs provided by the vehicle itself, however, it is not always efficient to use vehicle thrusters to move the manipulator end effector because of the difficulty of controlling the vehicle in hovering.
Journal ArticleDOI
Kinematic Optimization for the Design of a Collaborative Robot End-Effector for Tele-Echography
TL;DR: The design of an end-effector for tele-echography to be mounted on two popular and low-cost collaborative robots, i.e., the Universal Robot UR5, and the Franka Emika Panda are studied.
Journal ArticleDOI
Solution Space of Inverse Differential Kinematics
TL;DR: In this paper, the mapping conditions between joint velocities and end-effector velocity of a robot are analyzed through categorization of mapping conditions, and an improved mapping diagram showing orthogonality and mapping clearly between subspaces is introduced.
Journal ArticleDOI
Kinematic design of linkage-based haptic interfaces for medical applications: a review
TL;DR: This paper investigates the required characteristics of linkage-based haptic interfaces and inevitable trade-offs between them, and studies the state of the art in the kinematic design of haptic interface and their advantages and limitations.