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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Book ChapterDOI
Emulation of Articulated Robots
TL;DR: The integration of procedures for the kinematic simulation and the preliminary studies for the integration of dynamics and control procedures confirm the importance of CAD as a basic tool for developing robotic applications.
Task Space Control of Hydraulic Construction Machines using Reinforcement Learning
TL;DR: In this paper , a data-driven actuator model is used to capture machine dynamics in real-world operations and an optimal control policy for task space control is obtained by integrating this model into simulation and reinforcement learning.
Book ChapterDOI
Inverse Kinematics and Relative Arm Positioning
Adrià Colomé,Carme Torras +1 more
TL;DR: This chapter proposes two enhancements to the current state-of-the-art Closed-Loop Inverse Kinematics algorithms to then apply them to analyze the workspace and assess the relative positioning of two arms for cooperative manipulation in Sect.
Proceedings ArticleDOI
A power series based inverse-kinematics solution of a humanoid robot hand with coupled joints
TL;DR: An inverse-kinematics algorithm based on the power series is presented, by which the nonlinear equation including trigonometric transcendental function can be converted into an algebraic equation.
Stochastic Modeling for Mobile Manipulators Stochastic Modeling for Mobile Manipulators
TL;DR: In this article , a dynamic model that estimates the position of a mobile manipulator using an unscented Kalman filter is proposed. But the model is not suitable for the case of mobile manipulators where the base moves at the same time that the arm follows commands.