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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Proceedings ArticleDOI
Spherical parabolic blends for robot workspace trajectories.
Neil T. Dantam,Mike Stilman +1 more
TL;DR: A new approach to generate workspace trajectories for multiple waypoints to satisfy workspace constraints with constant-axis rotation by blending subsequent spherical linear interpolation phases, computing interpolation parameters so that rotational velocity is continuous.
Journal ArticleDOI
Dynamic accuracy ant colony optimization of inverse kinematic (DAACOIK) analysis of multi-purpose deployer (MPD) for CFETR remote handling
T. Zhang,T. Zhang,T. Zhang,Yong Cheng,Huapeng Wu,Yuntao Song,Sheng Yan,Sheng Yan,Heikki Handroos,Lei Zheng,Haibiao Ji,Haibiao Ji,Pan Hongtao +12 more
TL;DR: A new method that uses a Dynamic Accuracy Ant Colony Optimization (DAACO) solving redundant IK of MPD is developed and shows that this method has an excellent performance in kinematics to control the MPD to complete the RH task in future fusion engineering construction.
Journal ArticleDOI
An Efficient Motion Generation Method for Redundant Humanoid Robot Arm Based on the Intrinsic Principles of Human Arm Motion
TL;DR: An efficient method of inverse kinematics and motion generation for redundant humanoid robot arm based on the intrinsic principles of human arm motion is proposed, which significantly deduced the computing time.
Journal ArticleDOI
Steering law of control moment gyros using artificial potential function approach
TL;DR: The proposed steering law shows that the CMG cluster can avoid an internal singularity rapidly, resulting in faster maneuver time of the spacecraft and an algorithm for changing parameters of the potential function are proposed in the steering law.
Proceedings ArticleDOI
Tool-center-point control of a flexible link concrete pump with hydraulic limitations using quadratic programming
Julian Wanner,Oliver Sawodny +1 more
TL;DR: A deformation compensation and a volumetric flow rate constraint for a kinematic, constrained quadratic optimization (cQP) based tool-center point control is presented and validated by simulation for a flexible five-link concrete pump.