A fast procedure for manipulator inverse kinematics computation and singularities prevention

DOI10.1002/ROB.4620100104zbMath0770.70001OpenAlexW2062315665MaRDI QIDQ4037642

N. Milano, Rene V. Mayorga, Andrew K. C. Wong

Publication date: 16 May 1993

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100104

zbMATH Keywords

linear systemGaussian elimination proceduremanipulability measureplanar redundant manipulator

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Related Items (1)

A fast approach for the robust trajectory planning of redunant robot manipulators

Cites Work

• An efficient local approach for the path generation of robot manipulators
• Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system
• A global approach for the optimal path generation of redundant robot manipulators
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Repeatability of redundant manipulators: mathematical solution of the problem
• Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation

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