scientific article; zbMATH DE number 1187503

MaRDI QIDQ3840686zbMATHFDO

Authors Krzysztof Tchoń

Publication date 20 May 1999

zbMATH Keywords

kinematicssingularitiesroboticsavoidabilityHamiltonian vector fieldsself-motion manifolds

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(2)

• Torque optimizing control with singularity-robustness for kinematically redundant robots
• Singularities of robot mechanisms. Numerical computation and avoidance path planning

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