Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
About:
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
More filters
Journal ArticleDOI
A fast approach for the robust trajectory planning of redunant robot manipulators
TL;DR: A fast approach for robust trajectory planning, in the task space, of redundant robot manipulators is presented, based on combining an original method for obstacle avoidance by the manipulator configuration with the traditional potential field approach for the motion planning of the end-effector.
Journal ArticleDOI
Estimate of the two smallest singular values of the Jacobian Matrix: Application to damped least‐squares inverse kinematics
TL;DR: A standard singular value estimation procedure is extended to improve the handling of singular values crossing along a given trajectory, maintaining the computational efficiency of the original technique and showing higher estimation accuracy with respect to the original procedure.
Journal ArticleDOI
Robot Control near Singularity and Joint Limit Using a Continuous Task Transition Algorithm
Hyejin Han,Jaeheung Park +1 more
TL;DR: A continuous task transition algorithm called the intermediate desired value approach is applied to the hierarchically structured controller in the operational space control framework for dealing with singularities and joint limits in robots controlled in the task space.
Journal ArticleDOI
Reaching with multi-referential dynamical systems
Micha Hersch,Aude Billard +1 more
TL;DR: A reaching movement controller for a redundant serial arm manipulator is studied, based on two principles believed to be central to biological motion control: multi-referential control and dynamical system control.
Journal ArticleDOI
Autonomous Path Planning and Experiment Study of Free-floating Space Robot for Target Capturing
TL;DR: An autonomous path planning method for target capturing in Cartesian space that can drive the manipulator to approach the target along the closest path and avoid the dynamic singularities, and the experiment results validate the proposed algorithm.