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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Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators
TL;DR: This work derives a class of absolutely continuous (chattering-free) robust controllers based on the estimation of a Jacobian transpose matrix which seem to be effective in counteracting uncertain both kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory.
Journal ArticleDOI
Multi‐Variate Gaussian‐Based Inverse Kinematics
TL;DR: This paper presents a method based on the formulation of multi‐variate Gaussian distribution models (MGDMs), which precisely specify the soft joint constraints of a kinematic skeleton, which leads to natural and realistic results without sacrificing real‐time performance.
Journal ArticleDOI
Singularity of robotic kinematics: A differential motion approach
Tzong-Shi Liu,S.Y Tsay +1 more
TL;DR: In this article, a singularity robust reverse of Jacobian matrix in differential motion manner is employed for the operation of a five-axis industrial robot to demonstrate the validity of the proposed method.
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Compliant adaptive control of human upper-limb exoskeleton robot with unknown dynamics based on a Modified Function Approximation Technique (MFAT)
Brahim Brahmi,Mohamed Hamza Laraki,Maarouf Saad,Mohammad Habibur Rahman,Cristobal Ochoa-Luna,Abdelkrim Brahmi +5 more
TL;DR: An adaptive tracking controller based on Modified Function Approximation Technique (FAT) is proposed to approximate the dynamic model of the exoskeleton robot and the stability analysis is formulated and demonstrated based on Lyapunov function.