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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Proceedings ArticleDOI
Practical least-squares for computer graphics: Video files associated with this course are available from the citation page
Fred Pighin,John P. Lewis +1 more
TL;DR: The course presents an overview of the least-squares technique and its variants using the simple example of fitting a line through data, and then illustrated through its use in one or more computer graphics papers.
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An inverse-free technique for attitude control of spacecraft using CMGs
S. Krishnan,Srinivas R. Vadali +1 more
TL;DR: In this article, a transpose-based CMG-based attitude control of a spacecraft is proposed. But, it does not require calculating the pseudo-inverse of the CMG Jacobian matrix, and the proposed method provides viable rates for the CMGs even when the gimbals pass through a singular configuration.
Proceedings ArticleDOI
Adaptive neural network satellite attitude control in the presence of inertia and CMG actuator uncertainties
TL;DR: A neural network-based adaptive attitude tracking controller is developed in this paper, which achieves attitude tracking in the presence of parametric uncertainty, nonlinear actuator disturbances, and unmodeled external disturbance torques.
Journal ArticleDOI
A fractional approach for the motion planning of redundant and hyper-redundant manipulators
TL;DR: A new technique to solve the inverse kinematics problem of redundant manipulators is presented, which uses a fractional differential of order @a to control the joint positions.
Journal ArticleDOI
Singularity Analysis and Steering Control Laws for Adaptive-skew Pyramid-type Control Moment Gyros
TL;DR: In this paper, the skew angle of a fixed-skew pyramid-type control moment gyro (CMG) was analyzed and visualized from a viewpoint of null motion for not only the gimbal angle but also skew angle.