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
Motion planning of redundant robots by perturbation method
TL;DR: In this paper, an optimal path planning approach was proposed to minimize the cost of moving a redundant robot manipulator along a specified geometric path subject to angle change constraints. But this approach is not suitable for the specific applications to trajectory tracking, singularity avoidance, and obstacle avoidance.
Proceedings ArticleDOI
Toward Interactive Reaching in Static Environments for Humanoid Robots
TL;DR: This work presents a probabilistically complete solution to the reaching problem for humanoid robots in static environments, and evaluates it against two other methods using a kinematically simulated humanoid in a virtual environment.
Proceedings ArticleDOI
Real-time prioritized kinematic control under inequality constraints for redundant manipulators
TL;DR: This paper describes a fast algorithm for the prioritized kinematic control of redundant manipulators, hereby addressed with Tikhonov regularization, that can meet real time requirements for current humanoid robots.
Proceedings ArticleDOI
Force-and-Motion Constrained Planning for Tool Use
TL;DR: This paper evaluates the impact of the various constraints in some representative instances of tool use and hopes that these can serve as the basis of a benchmark problem for investigating tasks that involve many kinematic, actuation, friction, and environment constraints.
Journal ArticleDOI
A framework for singularity-robust manipulator control during physical human-robot interaction:
TL;DR: This work presents a framework for handling robotic singularities developed with the human operator in mind, and achieves singular robustness using a novel approach to dampen motion of the manipulator along singular directions.