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
Performance Prediction Network for Serial Manipulators Inverse Kinematics Solution Passing Through Singular Configurations
TL;DR: The generality and efficiency of the proposed algorithm are demonstrated through simulations of a general six DOF serial robot manipulator, and the obtained results have been verified experimentally.
Dissertation
Contribution à la planification de mouvement pour robots humanoïdes
TL;DR: This thesis identified a lack of support of strict priority enforcement when inequality constraints are to be accounted for in the numerical schemes and proposed a solution to this shortcoming by considering the kinematic structure of the robot and its walk path as a single unified structure.
Book ChapterDOI
Control Considerations on Minimum Joint Torque Motion
Jadran Lenarčič,Leon Zlajpah +1 more
TL;DR: It is shown that standard control schemes which include simple singularity-avoidance algorithms and limited joint velocities can be used for this purpose.
Journal ArticleDOI
Singularity robustness of the 3RPS parallel manipulator by using the damped-rate resolved-acceleration control
Chih-Cheng Kao,Tung-Sheng Zhan +1 more
TL;DR: It is shown that the DRRAC in the 3RPS parallel manipulator control system is asymptotically stable, and its convergent properties are discussed, which could improve the workspace.