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
Hybrid Steering Logic for Single-Gimbal Control Moment Gyroscopes
TL;DR: In this paper, a hybrid steering logic that maintains attitude tracking precision while avoiding hyperbolic internal singularities or escaping elliptic singularities inherent to single-gimbal control moment gyroscopes is discussed.
Proceedings ArticleDOI
Analysis and control of redundant parallel manipulators
TL;DR: This work focuses on the study of the undesired effects of singularity in parallel mechanisms and proposes a method to solve them, namely the method of redundancy.
Patent
Reconstruction, retargetting, tracking, and estimation of pose of articulated systems
TL;DR: In this paper, a control system and method generate joint variables for motion or pose of a target system in response to observations of a source system, and constraints and balance control are provided for more accurate representation of the motion or posing as replicated by the target system.
Journal ArticleDOI
Dynamic Neural Networks for Kinematic Redundancy Resolution of Parallel Stewart Platforms
Aquil Mirza Mohammed,Shuai Li +1 more
TL;DR: Theoretical analysis reveals the global convergence of the employed dynamic neural network to the optimal solution in terms of the defined criteria and simulation results verify the effectiveness in the tracking control of the Stewart platform for dynamic motions.
Proceedings ArticleDOI
Achieving user-defined accuracy with damped least-squares inverse kinematics
TL;DR: In this article, the authors proposed a method to tune the damped least squares inverse kinematics in order to improve the accuracy of the solution with respect to prescribed task-space components.