![]() ![]() Sciavicco: Robust control of robotic manipulators, 9th IFAC World Cong., Budapest (1984) pp. Siciliano: A new second-order inverse kinematics solution for redundant manipulators. Siciliano: A closed-loop inverse kinematic scheme for on-line joint-based robot control, Robotica 8, 231–243 (1990) Siciliano: Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy, Int. Thesis (Norwegian University of Science and Technology, Trondheim 1991) Sagli: Coordination of Motion in Manipulators with Redundant Degrees of Freedom, Ph.D. Kanestrøm: Achieving user-defined accuracy with damped least-squares inverse kinematics, 5th Int. Wampler: Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods, IEEE Trans. Khatib: A unified approach for motion and force control of robot manipulators: The operational space formulation, IEEE J. Egeland: An efficient pseudo-inverse solution to the inverse kinematic problem for six-joint manipulators, Model. Egeland: A solution to the singularity problem for six-joint manipulators, IEEE Int. Paul: Living with the singularity of robot wrists, IEEE Int. Furuta: Robot control in the neighborhood of singular points, IEEE J. Taylor: Planning and execution of straight-line manipulator trajectories, IBM J. Greville: Generalized Inverses: Theory and Applications (Wiley, New York 1974) ![]() Mitra: Generalized Inverse of Matrices and its Applications (Wiley, New York 1971)Ī. Odell: Generalized Inverse Matrices (Wiley, New York 1971)Ĭ.R. Whitney: The mathematics of coordinated control of prosthetic arms and manipulators, Trans. Hanafusa: Inverse kinematic solutions with singularity robustness for robot manipulator control, Trans. Chiaverini: Sensory control in singular configurations – Application to visual servoing, IEEE Int. Chiaverini: Estimate of the two smallest singular values of the Jacobian matrix: application to damped least-squares inverse kinematics, J. Klein: Numerical filtering for the operation of robotic manipulators through kinematically singular configurations, J. Blaho: Dexterity measures for the design and control of kinematically redundant manipulators, Int. Yoshikawa: Manipulability of robotic mechanisms, Int. Klein: The singular value decomposition: computation and applications to robotics, Int. Reinsch: Singular value decomposition and least-squares solutions, Numer. Whitney: Resolved motion rate control of manipulators and human prostheses, IEEE Trans. This process is experimental and the keywords may be updated as the learning algorithm improves.ĭ.E. These keywords were added by machine and not by the authors. Suggestions for further reading are given in a final section. The use of kinematic redundancy for fault tolerance is analyzed in detail. Conditions under which a cyclic task motion results in a cyclic joint motion are also discussed this is a major issue when a redundant manipulator is used to execute a repetitive task, e. g., in industrial applications. Redundancy resolution methods at the acceleration (second-order differential) level are then considered in order to take into account dynamics issues, e. g., torque minimization. Next, different first-order methods to solve kinematic redundancy are arranged in two main categories, namely those based on the optimization of suitable performance criteria and those relying on the augmentation of the task space. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled, with a discussion of the main techniques for handling kinematic singularities. This is obviously an issue of major relevance for motion planning and control purposes. This chapter focuses on redundancy resolution schemes, i. e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. ![]()
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