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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Proceedings ArticleDOI
Inverse Kinematics without matrix inversion
TL;DR: In this method, the transformation from Cartesian space to joint space is performed in a feedback loop and as a result the new feedback inverse kinematics (FIK) law operates as a filter and does not require matrix manipulations.
Proceedings ArticleDOI
Obstacle avoidance for redundant manipulators using the compact QP method
TL;DR: Simulation results show that multiple goals can easily be fulfilled by the compact QP method, and real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account.
Journal ArticleDOI
Adaptive neural network-based satellite attitude control in the presence of CMG uncertainty
TL;DR: In this paper, an attitude tracking controller is developed for control moment gyroscope (CMG)-actuated satellites, which is shown to achieve accurate attitude tracking in the presence of unmodeled external disturbance torques, parametric uncertainty, and nonlinear CMG disturbances.
Journal ArticleDOI
Closed-form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms
TL;DR: A framework for solving the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations is proposed, using kinematic data recorded from human subjects during every-day life tasks to validate the linear relations between intrinsic and extrinsic coordinates of the human arm that estimates the swivel angle, given the desired end-effector position.
Dissertation
A Control Moment Gyro (CMG) Based Attitude Control System (ACS) For Agile Small Satellites
TL;DR: In this article, an alternative and more efficient means of providing the required agile capability is proposed based on a novel miniaturized version of a Control Moment Gyro (CMG).