Remarks on some dynamical problems of controlling redundant manipulators

DOI10.1109/9.50353MaRDI QIDQ3489884zbMATH OpenOpenAlexFDO

Authors T. Shamir

Publication date 1990

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.50353

zbMATH Keywords

``inverse kinematics methodsdifferential geometric structureredundant robot arms

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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• Chaotic phenomena and fractional-order dynamics in the trajectory control of redundant manipulators
• Calculation of repeatable control strategies for kinematically redundant manipulators
• Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections
• Motion control for kinematically redundant manipulator robots
• Clamping weighted least-norm method for the manipulator kinematic control with constraints
• Adaptive control of kinematically redundant manipulator along a prescribed geometric path
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• New inverse kinematic algorithms for redundant robots
• Natural motion and singularity-consistent inversion of robot manipulators
• A local solution with global characteristics for the joint torque optimization of a redundant manipulator
• Controlling chaotic robots with kinematical redundancy
• Complex dynamics in the trajectory control of redundant manipulators
• Dynamic control of redundant manipulators
• Repeatability of redundant manipulators: mathematical solution of the problem
• Cartesian control of redundant robots
• Predicting the drift motion for kinematically redundant robots
• Redundancy resolution through local optimization: A review
• scientific article; zbMATH DE number 719516 (Why is no real title available?)
• Adaptive control of kinematically redundant robots
• scientific article; zbMATH DE number 1071417 (Why is no real title available?)
• Geometric Motion Control for a Kinematically Redundant Robotic Chain: Application to a Holonomic Mobile Manipulator
• Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control
• Analysis, verification and comparison on feedback-aided Ma equivalence and Zhang equivalency of minimum-kinetic-energy type for kinematic control of redundant robot manipulators
• Geometry‐based efficient rata coordination for manipulators with kinematic redundancy
• scientific article; zbMATH DE number 4119712 (Why is no real title available?)
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• Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulations
• Inverse dynamics of redundant manipulators using a minimum number of control forces
• Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying
• Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints
• A novel formulation for determining joint constraint loads during optimal dynamic motion of redundant manipulators in DH representation

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