Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

DOI10.1109/TSMC.1986.289285zbMath0585.70030OpenAlexW2058544403MaRDI QIDQ3709951

Charles W. Wampler

Publication date: 1986

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/tsmc.1986.289285

zbMATH Keywords

vectorformulationskinematic singularitiesmanipulator configurationsdamped least-squares problemend- effector positionerrors inexact inverse probleminverse kinematic solutionsmanipulator controllers

Mathematics Subject Classification ID

Composite and mixture properties (74E30) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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Singularly perturbed feedback linearization with linear attitude deviation dynamics realization ⋮ Overview of damped least-squares methods for inverse kinematics of robot manipulators ⋮ Trajectory planning with pose feedback for a dual-arm space robot ⋮ Estimate of the two smallest singular values of the Jacobian Matrix: Application to damped least‐squares inverse kinematics ⋮ Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations ⋮ A convex programming approach to the inverse kinematics problem for manipulators under constraints ⋮ Operating robot manipulators through kinematic singularities using a continuously sliding mode control ⋮ Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation ⋮ Improved configuration control for redundant robots ⋮ Active isotropic compliance in redundant manipulators ⋮ Nonlinear generalised dynamic inversion for aircraft manoeuvring control ⋮ Recent advances on virtual human synthesis ⋮ A study of robot inverse kinematics based upon the solution of differential equations ⋮ GA based adaptive singularity-robust path planning of space robot for on-orbit detection ⋮ A fast approach for the robust trajectory planning of redunant robot manipulators ⋮ Reference trajectory tracking for a multi-DOF robot arm ⋮ Redundancy resolution through local optimization: A review

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