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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An Adaptive Second Order Sliding Mode Inverse Kinematics Approach for Serial Kinematic Chain Robot Manipulators
TL;DR: An adaptive inverse kinematics methodology is developed to solve the inverse k Cinematics problem in such a way that compensate for unknown uncertainty in the Jacobian matrix of the serial kinematic chain robot manipulators.
Journal ArticleDOI
Singular Configuration Analysis and Singularity Avoidance with Application in an Intelligent Robotic Manipulator
TL;DR: This paper systematically analyzes the causes of singularity phenomenon in the robot motion control using a dynamic model with load and torque sensors and obtains the inverse solution by analytical method and numerical method.
Dissertation
Exact Steering in Control Moment Gyroscope Systems
TL;DR: In this paper, the authors presented a detailed formulation of three-axis attitude dynamics and control of a satellite equipped with a cluster of n momentum exchange devices (which include CMGs and reaction wheels).
Journal ArticleDOI
Kinematics and Singularity Analysis of a 7-DOF Redundant Manipulator.
TL;DR: In this paper, a method of kinematic analysis and singularity analysis for a 7-DOF redundant manipulator with three consecutive parallel axes is proposed, where the redundancy angle is described according to the self-motion characteristics of the manipulator, the position and orientation of the end-effector are separated, and the inverse kinematics of this manipulator is analyzed by geometric methods with the redundancy angles as a constraint.
Journal ArticleDOI
A Geometric Approach for Real-Time Forward Kinematics of the General Stewart Platform
TL;DR: In this article , a geometric approach for real-time forward kinematics of the general Stewart platform, which consists of two rigid bodies connected by six general serial manipulators, is presented.