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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Gradient Projection of Weighted Jacobian Matrix Method for Inverse Kinematics of a Space Robot With a Controlled-Floating Base
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Contact Anticipation for Physical Human-Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors.
TL;DR: In this article, a dynamic contact thresholding algorithm is proposed to reduce contact forces in anticipation of a collision between a human and a robotic manipulator, and if contact occurs, a robot can detect it and maneuver based on the thresholding.
Journal ArticleDOI
A Fast Approach for Robot Motion Planning
TL;DR: A new approach to robot motion planning that combines the end-point motion planning with joint trajectory planning for collision avoidance of the links is described and shows to be faster than many previous planners and can be applied to robots with many degrees of freedom.
Proceedings ArticleDOI
Design and on-orbit evaluation of magnetic attitude control system for the “REIMEI” microsatellite
Sakai,Fukushima,Saito +2 more
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Methods of Analysis of Constrained Multibody Systems
TL;DR: In this article, two methods for studying constrained and redundant multibody systems are examined in detail: (1) pseudo-inverses and (2) orthogonal complement arrays.