Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
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Publication:3751475
DOI10.1115/1.3143764zbMath0609.93044OpenAlexW2015003349WikidataQ56404416 ScholiaQ56404416MaRDI QIDQ3751475
Hideo Hanafusa, Yoshihiko Nakamura
Publication date: 1986
Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1115/1.3143764
Sensitivity (robustness) (93B35) Theory of matrix inversion and generalized inverses (15A09) Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)
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