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
Grasp Quality Evaluation with Whole Arm Kinematic Noise Propagation
Shuo Liu,Stefano Carpin +1 more
TL;DR: This paper proposes a new approach to evaluate grasps that accounts for both the kinematic structure of the robot and the noise at its joints, and introduces a new metric to rank different configurations according to the robustness to noise.
Journal ArticleDOI
Real-Time Character Inverse Kinematics using the Gauss-Seidel Iterative Approximation Method
TL;DR: In this paper , the Gauss-Seidel iterative method is used to solve non-linear inverse kinematic problems with angular limits for character-based interactive applications such as games.
Journal ArticleDOI
Compensation for Manipulability under Execution of Task with Individual Admittance Control of Finger and Manipulator
TL;DR: Li et al. as mentioned in this paper proposed a double admittance control for a finger and manipulator system, which can realize different admittances of both the finger and the manipulator, and the proposed method can realize very natural motion to constrained tasks.
Proceedings ArticleDOI
Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration
Xuming Meng,Roman Weitschat +1 more
TL;DR: In this paper, the human upper body is simplified as a five-degree-of-freedom (5DOF) rigid-body model and a control-oriented projection model is proposed, and its parameters are estimated from the test data of human capability.
Proceedings ArticleDOI
Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
TL;DR: The proposed method enables online changes of the kinematic structure with the use of a special function; termed “meta-controlling function”, which can be used to develop policies to reduce drastically the computational cost for a single task, and to robustly control the robotic arm, even in the event of partial damage.