Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators

DOI10.1115/1.3152644zbMath0649.93053OpenAlexW1966132983MaRDI QIDQ3795568

Charles W. Wampler, L. J. Leifer

Publication date: 1988

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3152644

zbMATH Keywords

singular configurationsdamped least- squaresResolved-rate and resolved-acceleration controllers

Mathematics Subject Classification ID

Application models in control theory (93C95) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (12)

Overview of damped least-squares methods for inverse kinematics of robot manipulators ⋮ Extended impedance control using real and virtual sensors for redundant manipulators ⋮ Artificial neural network-based kinematics Jacobian solution for serial manipulator passing through singular configurations ⋮ An identification method for estimating the inertia parameters of a manipulator ⋮ Improved configuration control for redundant robots ⋮ Constraint finite-time control of redundant manipulators ⋮ Two/Infinity Norm Criteria Resolution of Manipulator Redundancy at Joint‐Acceleration Level Using Primal‐Dual Neural Network ⋮ Velocity field control of a class of electrically-driven manipulators ⋮ A modified resolved acceleration controller for position-based visual servoing ⋮ Velocity field control of robot manipulators by using only position measurements ⋮ Optimal cascaded control of mobile manipulators ⋮ Manipulator motion control in operational space using joint velocity inner loops

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