scientific article; zbMATH DE number 4176520

zbMATH Open0714.70006MaRDI QIDQ3200602FDOQ3200602

Authors: John Baillieul, Donald P. Martin 

Publication date: 1990

Title of this publication is not available (Why is that?)

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zbMATH Keywords

kinematic redundancyalgorithmic singularitiesextended Jacobian techniqueKinematically redundant robotic mechanismsnonhomotopic locally optimal solutions

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Singular perturbations, turning point theory, WKB methods for ordinary differential equations (34E20) Differentiable maps on manifolds (58C25) Theory of singularities and catastrophe theory (58K99)

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• Local dexterity analysis for open kinematic chains
• New inverse kinematic algorithms for redundant robots
• Analytic minimum-norm solution for rate coordination in redundant manipulators
• Predicting the drift motion for kinematically redundant robots
• Remarks on some dynamical problems of controlling redundant manipulators
• A comparison of analysis methods of redundant multibody systems
• Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulations
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• Repeatability of redundant manipulators: mathematical solution of the problem
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• A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation
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• Resolution of redundancy using local optimization: a synergy approach
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• Optimal path and trajectory planning for serial robots. Inverse kinematics for redundant robots and fast solution of parametric problems
• A comparison of methods solving repeatable inverse kinematics for robot manipulators
• Simultaneously kinematical and dynamical optimizations of redundant robots
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• Redundancy resolution through local optimization: A review
• Two optimization algorithms for solving robotics inverse kinematics with redundancy
• Analysis, verification and comparison on feedback-aided Ma equivalence and Zhang equivalency of minimum-kinetic-energy type for kinematic control of redundant robot manipulators
• Trajectory optimization for kinematically redundant arms
• Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators
• A method for online kinematic path planning of kinematically redundant manipulators
• Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints
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• Identifying multi-DOF-loss velocity degeneracies in kinematically-redundant manipulators.

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