Repeatability of redundant manipulators: mathematical solution of the problem

DOI10.1109/9.14412MaRDI QIDQ3826450zbMATH OpenOpenAlexFDO

Authors T. Shamir, Yosef Yomdin

Publication date 1988

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

Full work available at URL https://doi.org/10.1109/9.14412

zbMATH Keywords

integral surfaceslocal controlredundant manipulatorrepeatability

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Application models in control theory (93C95)

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Cited in

(18)

• Flexible high-order discretization of geometric data for global motion planning
• The planning of optimal motions of non-holonomic systems
• Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach
• Calculation of repeatable control strategies for kinematically redundant manipulators
• Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators
• On singular behaviors of impedance-based repeatable control for redundant robots
• Approximation of Jacobian inverse kinematics algorithms
• Constraint finite-time control of redundant manipulators
• An efficient local approach for the path generation of robot manipulators
• Remarks on some dynamical problems of controlling redundant manipulators
• Controlling chaotic robots with kinematical redundancy
• Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation
• Predicting the drift motion for kinematically redundant robots
• A fast procedure for manipulator inverse kinematics computation and singularities prevention
• Design of inverse kinematics algorithms: extended jacobian approximation of the dynamically consistent Jacobian inverse
• Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots
• Optimal cascaded control of mobile manipulators
• Repeatable approximation of the Jacobian pseudo-inverse

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