Name
Abstract | ||
|---|---|---|
In this article, a new method of solving the singular inverse kinematic problem for nonredundant robotic manipulators is proposed, based on normal forms of the manipulator kinematics, A complete solution to the inverse problem is presented under assumption that the kinematics are equivalent to the quadratic normal form, Comparisons with other existing methods, including the Singularity-Robust Inverse (SRI), are made that reveal advantages of the normal form approach. Experimental results concerned with singular tracking in the AdeptOne manipulator are reported. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/70.660848 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
equivalence, inverse kinematic problem, normal form, robotic manipulator, singular configuration, singular tracking | Inverse,Kinematics,Inverse kinematics,321 kinematic structure,Control theory,Quadratic equation,Robot kinematics,Control engineering,Inverse problem,Inverse dynamics,Mathematics | Journal |
Volume | Issue | ISSN |
14 | 1 | 1042-296X |
Citations | PageRank | References |
18 | 1.65 | 14 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| K. Tchon | 1 | 63 | 6.08 |
| R. Muszynski | 2 | 18 | 1.65 |