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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Mixed Reality Enhanced User Interactive Path Planning for Omnidirectional Mobile Robot
TL;DR: Experimental results demonstrated that this proposed method can generate the motion path of the mobile robot according to the specific requirements of the operator, and achieve a good obstacle avoidance performance.
Journal ArticleDOI
On inverting singular kinematics and geodesic trajectory generation for robot manipulators
Krzysztof Tchoń,Ignacy Duleba +1 more
TL;DR: The proposed method is based upon the so-called generalized Newton algorithm, introduced by S. Smale, and can be adopted to both nonredundant and redundant kinematics, and is capable of generating a minimum-length trajectory joining the points (a geodesic).
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A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method
TL;DR: An improved clamping weighted least-norm method is proposed that adds an elastic field function into the original method for the sake of sustaining the constraints of joint angular velocity limits.
Journal ArticleDOI
Fuzzy Sliding Mode Control of Robotic Manipulators With Kinematic and Dynamic Uncertainties
Haitao Liu,Tie Zhang +1 more
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Optimal capture occasion determination and trajectory generation for space robots grasping tumbling objects
TL;DR: In this paper, an optimal trajectory planning scheme for robotic capturing of a tumbling object is presented, in which the path independent workspace (PIW) and path dependent workspace (PDW) of the space robot are first calculated by the proposed algorithm.