A closed‐loop jacobian transpose scheme for solving the inverse kinematics of nonredundant and redundant wrists

DOI10.1002/ROB.4620060507zbMath0683.70029OpenAlexW2052996471MaRDI QIDQ4733485

Pasquale Chiacchio, Bruno Siciliano

Publication date: 1989

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

Full work available at URL: https://doi.org/10.1002/rob.4620060507

zbMATH Keywords

robotic manipulator controlinverse kinematic problemclosed-loop schememanipulability measureredundant wrists

Mathematics Subject Classification ID

Application models in control theory (93C95) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (1)

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Cites Work

• Resolved-acceleration control of mechanical manipulators

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