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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Journal ArticleDOI
A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space
TL;DR: In this paper , the authors summarized some representative research works for hyperredundant manipulators, including the mechanical design, environment perception, robotic navigation, and trajectory control, and analyzed the technical problems of current research to address the key issues for the improvement.
Proceedings ArticleDOI
Using Momentum Conservation to Control Kinematically Redundant Manipulators
J.R. Sagli,Olav Egeland +1 more
Book ChapterDOI
Haptic Teleoperation of Robotic Manipulator
Wusheng Chou,Jing Xiao +1 more
TL;DR: In this article, a haptic teleoperation method is proposed to enable a user to control a robotic manipulator conveniently and without violating constraints of the manipulator, where configuration constraints and mechanical limits are converted into a constraining force.
Proceedings ArticleDOI
RRT-Based Steering Law for Singularity Avoidance of Control Moment Gyros used for Spacecraft Target Acquisition
TL;DR: This paper poses the problem of steering the attitude dynamics of a spacecraft in the context of robotic motion planning, and investigates the use of a Rapidly-Exploring Random Trees (RRT) algorithm for singularity avoidance.
Proceedings ArticleDOI
Singularity Avoidance in Spacecraft with Single-Gimbal CMGs Using RRT-Based Steering Laws
TL;DR: In this paper , a Rapidly-Exploring Random Tree (RRT) algorithm is proposed for singularity avoidance in a single-gimbal control moment gyroscope cluster.