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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Journal ArticleDOI
Damped-Rate Resolved-Acceleration Control for Manipulators
Sun-Li Wu,Shir-Kuan Lin +1 more
TL;DR: In this article, the authors proposed the damped-rate resolved-acceleration control scheme (DRRAC) to solve the singularity problem of the resolved acceleration control scheme by damping only the joint accelerations.
Proceedings ArticleDOI
Inertia-independent generalized dynamic inversion feedback control of spacecraft attitude maneuvers
TL;DR: In this article, a generalized dynamic inversion control methodology is applied to the spacecraft attitude trajectory tracking problem, which is composed of auxiliary and particular parts acting on two orthogonally complement subspaces of the three dimensional Euclidean space.
Journal ArticleDOI
Spacecraft Attitude Control with a Two-axis Variable Speed Control Momentum Gyro
Hyochoong Bang,Young-Woong Park +1 more
TL;DR: In this paper, the attitude dynamics with a Variable Speed Control Momentum Gyro (VSCMG) mounted on a two-axis gimbal system are derived in conjunction with the dynamic equations of motion.
Journal ArticleDOI
A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems
TL;DR: In this article, a genetic optimization algorithm is used to tune a control law for overactuated mechanical systems that may encounter singularities, and a robust closed-loop controller is computed with the structured H_\infty method.
Human user impressions of damping methods for singularity handling in human-robot collaboration
TL;DR: Results indicate that the choice of method used affects the user’s impressions of the interaction, and the asymmetrical damping behavior can produce a preferred interaction experience with human operators during tasks.