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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Journal ArticleDOI
Teleoperation based on the adjoint Jacobian approach
TL;DR: In this paper, the adjoint Jacobian approach is used to teleoperate a non-redundant 2R arm in the vicinity of singularities, resulting in a reconfigured kinematic chain.
Journal ArticleDOI
Symbolic Singular Value Decomposition for a PUMA Robot and Its Application to a Robot Operation Near Singularities
TL;DR: Symbolic expressions for matrices of the decomposition for both a 2-DOF planar manipulator and a 6- DOF PUMA robot are derived, which reduces the com putational burden by an order of magnitude and gives more insight into the nature of the singularities.
Proceedings ArticleDOI
Development of dynamic model-based controller for upper limb exoskeleton robot
TL;DR: A dynamic model-based force controller for the motion of upper limb exoskeleton robot composed of 3 degrees of freedom using an electrical actuator and the damped least squares method is proposed.
Proceedings ArticleDOI
Singularity-consistent path tracking: a null space based approach
TL;DR: This paper develops further the recently proposed null-space method for path tracking at and around kinematic singularities, and considers two types of singularities known as ordinary singularities and bifurcation/isolated-point singularities.
Journal ArticleDOI
Two-time scale visual servoing of eye-in-hand flexible manipulators
Luca Bascetta,Paolo Rocco +1 more
TL;DR: The effectiveness of the proposed controller is shown by means of a numerical simulation concerning a trajectory tracking problem and some experimental results finally demonstrate the precision enhancement achieved by the proposed algorithm on a single-link flexible manipulator.