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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Patent
A hybrid robot motion task level control system
Ning Xi,Jindong Tan +1 more
TL;DR: In this article, a hybrid control system is provided for controlling the movement of a robot, which includes a singularity detector, a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller, which determines a second set of commands in a joint space.
Journal ArticleDOI
Study and resolution of singularities for a 7-DOF redundant manipulator
TL;DR: The singularity problem of a 7-degrees-of-freedom (DOF) redundant manipulator is analyzed, and a new resolution method is proposed, which resolves the escapable singularities which can be reconfigured into a nonsingular posture via self motion.
Book ChapterDOI
A Bayesian View on Motor Control and Planning
Marc Toussaint,Christian Goerick +1 more
TL;DR: This paper derives Bayesian control methods that are directly analogous to classical redundant motion rate control and optimal dynamic control (including operational space control) and shows that approximate probabilistic inference methods (message passing) efficiently compute solutions to trajectory optimization problems.
Journal ArticleDOI
On the implementation of velocity control for kinematically redundant manipulators
TL;DR: A single framework for implementing different methods for velocity control of kinematically redundant manipulators is developed by simply selecting a scalar, a function of configuration, and a joint-rate weighting matrix.
Journal ArticleDOI
A singularity-free motion control algorithm for robot manipulators-a hybrid system approach
Jindong Tan,Ning Xi,Yuechao Wang +2 more
TL;DR: The design and implementation of a singularity-free tracking algorithm for robot manipulators using a hybrid system approach and the stability of the hybrid system is investigated using multiple Lyapunov function theory.