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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Book ChapterDOI
An Approach to Trajectory Planning for Underwater Redundant Manipulator Considering Hydrodynamic Effects
TL;DR: The proposed trajectory planning is based on minimizing the energy required in overcoming the hydrodynamic effects, and in the same time avoiding both obstacles and singularities, and is applied for motion planning of a three degrees-of-freedom planar manipulator avoiding a point obstacle.
Proceedings ArticleDOI
A parallel evolutionary solution for the inverse kinematics of generic robotic manipulators
TL;DR: Results show that the evolutionary implementation of the algorithm is able to reduce the number of iterations compared to the previous method significantly, while also finding the solution within the specified margin of error.
Dissertation
Handling Uncertainty and Variability in Robot Control
TL;DR: This work focuses on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot, and proposes a computationally-efficient optimization-based controller that ensures the balance of the robots despite these uncertainties.
Concept and Design of a Cooperative Robotic Assistant Surgery System
TL;DR: Eine Lösung zur Kombination eines Navigationssystems and eines manuell steuerbaren Roboterarms zur Unterstützung verschiedenster chirurgischer Eingriffe entwickelt [70].
Dissertation
Utilisation des relations spatiales pour l'analyse et l'édition de mouvement
TL;DR: Cette approche nous permet de tenir compte implicitement de contraintes de distance entre les points of the structure articulee, du maillage et de l'environnement, and d'exprimer en particulier the notion of contact.