Name
Title | ||
|---|---|---|
A Normal Form Solution To The Singular Inverse Kinematic Problem For Robotic Manipulators: The Quadratic Case |
Abstract | ||
|---|---|---|
We present a normal form approach to solving Me singular inverse kinematic problem for non-redundant robot kinematics. A standing assumption is made that singular configurations of Me kinematics have corank 1 and Mat the kinematies are equivalent to the quadratic normal form. The approach has been illustrated with a simulation ease study of 2R kinematics. A comparison with the Singularity-Robust Inverse technique and the null-space based approach has demonstrated advantages of the normal for approach. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/ROBOT.1998.680921 | 1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 |
Keywords | Field | DocType |
control systems,robots,feedback,inverse problems,cybernetics,kinematics,computational modeling,differential equations,inverse kinematics,normal form | Inverse,Kinematics,Kinematics equations,Inverse kinematics,Control theory,321 kinematic structure,Robot kinematics,Quadratic equation,Control engineering,Inverse dynamics,Mathematics | Conference |
ISSN | Citations | PageRank |
1050-4729 | 2 | 0.51 |
References | Authors | |
3 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krzysztof Tchon | 1 | 52 | 13.93 |
| Robert Muszynski | 2 | 37 | 2.89 |