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

DOI10.1002/rob.4620120205zbMath0849.70005OpenAlexW2010745858MaRDI QIDQ4698199

Farrokh Janabi-Sharifi, Andrew K. C. Wong, Rene V. Mayorga

Publication date: 7 November 1996

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

Full work available at URL: https://doi.org/10.1002/rob.4620120205

zbMATH Keywords

inverse kinematic problemlocal minima in potential fieldMoore-Penrose matrix

Mathematics Subject Classification ID

Numerical solutions to overdetermined systems, pseudoinverses (65F20) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Multistep, Runge-Kutta and extrapolation methods for ordinary differential equations (65L06)

Related Items (1)

Singularly perturbed feedback linearization with linear attitude deviation dynamics realization

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
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Manipulator Cartesian Path Control
• The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds
• A fast procedure for manipulator inverse kinematics computation and singularities prevention
• Joint trajectory generation for redundant robots in an environment with obstacles

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