Overview of damped least-squares methods for inverse kinematics of robot manipulators

DOI10.1007/BF01254007zbMath0861.70010MaRDI QIDQ1898707

Arati S. Deo, Ian D. Walker

Publication date: 22 May 1997

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

zbMATH Keywords

iterative methodfeasible joint velocitiesoptimal damping factorredundancy resolution schemesredundant arms

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites Work

• Unnamed Item
• Improved configuration control for redundant robots
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• The singular value decomposition: Its computation and some applications
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• Redundancy resolution through local optimization: A review

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