Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
About:
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
More filters
Proceedings ArticleDOI
A Robust Local Approach For The Obstacle Avoidance Of Redundant Robot Manipulators
TL;DR: A fast approach based on formulating an inverse kinematics problem under an inexact context which includes the vector for obstacle avoidance and a scheme for the proper pseudoinverse perturbation makes the proposed approach suitable for robots operating in a sensor based environment.
Proceedings ArticleDOI
Cmc singularity avoidance using vscmg null motion
Hanspeter Schaub,John L. Junkins +1 more
TL;DR: In this article, a variable speed control moment gyroscope (VSCMG) null motion steering law is introduced that continuously attempts to minimize the condition number of the control influence matrix.
Book ChapterDOI
Differential Kinematics and Statics
TL;DR: In this article, the relationship between the joint velocities and the corresponding end-effector linear and angular velocity is described by a matrix, termed geometric Jacobian, which depends on the manipulator configuration.
Proceedings ArticleDOI
A fast and smooth walking pattern generator of biped robot using Jacobian inverse kinematics
Jiu Lou Yan,Han-Pang Huang +1 more
TL;DR: An algorithm is proposed that can generate the gait for robot walking on real time implementation including singularity avoidance and joint limit avoidance and can guarantee that only one iteration is needed to solve the configuration when it is away from singularity with a small position error.
Journal ArticleDOI
Reactionless camera inspection with a free-flying space robot under reaction null-space motion control
Hiroki Sone,Dragomir N. Nenchev +1 more
TL;DR: In this paper, the possibility of implementing reactionless motion control w.r.t. base orientation of a free-flying space robot in practical tasks is addressed, and it is shown that such possibility depends strongly on the kinematic/dynamic design parameters as well as on the mission task.