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
Citations
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Automating the Learning of Inverse Kinematics for Robotic Arms with Redundant DoFs
Chi-Kai Ho,Chung-Ta King +1 more
TL;DR: A systematic and mechanical approach to training data collection that covers the entire working space of the robotic arm, and can be fully automated and done only once after the arm is developed; and a novel NN-based framework that can leverage the redundant DoFs to produce multiple angle solutions to any given desired pose of the robot arm.
Journal ArticleDOI
Comparison of local and global solution in optimisation of joint torques of n-R planar manipulator
J. Lenarčič,L. Žlajpah +1 more
TL;DR: In this paper, the motion of a 2-R planar manipulator is considered in the operation of weight lifting when the cost function contains a square norm of the lifting height and the joint torques.
Journal ArticleDOI
Optimal path crossing the orientation exclusion zone of a robot with offset wrist
TL;DR: Extensions to the method for an offset wrist find the least-maximum deviation, identify and locate where a path reversal occurs, and use this point to control step size in a high-order predictor-correction path following procedure.
Proceedings ArticleDOI
Task-space cooperative tracking control of multi-robot systems with unknown parameters and time delays
TL;DR: Lyapunov stability theory is used to rigorously prove asymptotical convergence of the task-space synchronization and tracking errors by fully considering the time delays and simulation results are given to illustrate the performance of the proposed novel adaptive control approach.
Book ChapterDOI
Motion Planning for a Humanoid Robot with Task Dependent Constraints
TL;DR: The main objective of this work is to deliver a suitable motion generation algorithm for pick and place task considering an existing humanoid robot using a planar robot with only the motion in sagittal plane.