Repeatability of redundant manipulators: mathematical solution of the problem

DOI10.1109/9.14412zbMath0672.93055OpenAlexW2038533008MaRDI QIDQ3826450

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

redundant manipulatorrepeatabilitylocal controlintegral surfaces

Mathematics Subject Classification ID

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

Related Items (16)

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

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