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
Optimal Concurrent Control for Space Manipulators Rendezvous and Capturing Targets Under Actuator Saturation
TL;DR: A control method for space manipulators rendezvousing with and capturing a target, involving concurrent operation of an optimal and a coordinated controller is proposed, which saves onboard fuel and satisfies obstacle avoidance constraint and base spacecraft thrust limits.
Book ChapterDOI
Singularity Consistent Inverse Kinematics by Enhancing the Jacobian Transpose
G. Schreiber,Gerd Hirzinger +1 more
TL;DR: A new heuristic measure for treating kinematic singularities is introduced that is numerically efficient, able to cross and escape singularities, and performs for redundant and non-redundant robots as well.
Proceedings ArticleDOI
Verification of an advanced space teleoperation system using Internet
TL;DR: This work introduces an advanced space teleoperation system which includes all the above elements and realizes safety against the singularities and excessive force, with good perception for the operator.
DissertationDOI
Modeling Emotional Aspects in Human Locomotion
TL;DR: This thesis model human walking as a nonlinear multi-phase optimal control problem to investigate the dynamics of full-body emotional expressions in human locomotion and developed and implemented a semi-automatic method in which the model is manually adjusted to approximate the recorded subject and then compute joint angles by solving a non-linear least-squares optimization problem.