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
Book
Whole-Body Impedance Control of Wheeled Humanoid Robots
TL;DR: The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation that enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment.
Journal ArticleDOI
Approach to control moment gyroscope steering using feedback linearization
TL;DR: In this article, a technique from feedback linearization theory is used to transform the original nonlinear problem to an equivalent linear form without approximating assumptions, in which the spacecraft dynamics appear linearly, and are decoupled from redundancy in the system of gyroscopes.
Journal ArticleDOI
Redundant Reaction Wheel Torque Distribution Yielding Instantaneous L2 Power-Optimal Spacecraft Attitude Control
Hanspeter Schaub,Vaios Lappas +1 more
TL;DR: In this paper, a power-optimal reaction wheel motor torque distribution strategy is developed that minimizes the instantaneous electrical power requirements of a rigid spacecraft containing a redundant set of reaction wheels.
Journal ArticleDOI
Kinematics Model Optimization Algorithm for Six Degrees of Freedom Parallel Platform
TL;DR: In this paper , a multivariate polynomial regression kinematics forward solution algorithm is proposed to improve the real-time performance of the parallel platform control system, which is based on the Newton-Raphson iteration.
Proceedings ArticleDOI
Learning an inverse rig mapping for character animation
TL;DR: A general, real-time solution to the inversion of the rig function - the function which maps animation data from a character's rig to its skeleton, which greatly improves the productivity of 3D animation, while retaining the flexibility and creativity of artistic input is proposed.