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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Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance
Carlos Faria,Flora Ferreira,Flora Ferreira,Wolfram Erlhagen,Sergio Neves Monteiro,Estela Bicho +5 more
TL;DR: In this article, a position-based inverse kinematics algorithm is proposed to solve both global and local manifolds, using a redundancy resolution strategy to avoid singularities and joint limits.
Journal ArticleDOI
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot
TL;DR: Experimental results are presented where the controller is shown to successfully maintain the forward propulsion of a physical snake robot in a course with different obstacle configurations.
Proceedings ArticleDOI
Cable-suspended planar parallel robots with redundant cables: controllers with positive cable tensions
So-Ryeok Oh,Sunil K. Agrawal +1 more
TL;DR: These approaches to feedback control of cable-suspended robots are described and their effectiveness is demonstrated through simulations of a three degree-of-freedom cable suspended robots with four, five, and six cables.
Journal ArticleDOI
Singularity-consistent parameterization of robot motion and control
TL;DR: It is shown that a singular point of work space can be mapped either as a critical or a noncritical point of the autonomous system, depending on the direction of approach to the singular point, and natural motion constitutes an integrable motion component.
Journal ArticleDOI
Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system
Laura Kelmar,Pradeep K. Khosla +1 more
TL;DR: An algorithm for automatically generating both the forward and inverse kinematics of a serial link N degrees-of-freedom reconfigurable manipulator and the idea of scaling a manipulator is proposed.