Weighted damped least-squares in kinematic control of robotic manipulators
- 1 January 1992
- journal article
- Published by Taylor & Francis in Advanced Robotics
- Vol. 7 (3) , 201-218
- https://doi.org/10.1163/156855393x00122
Abstract
Task-space control of robotic manipulators relies on inverse kinematic algorithms with singularity handling capabilities. Damped least-squares inverse kinematics gives well-behaved joint solutions ...Keywords
This publication has 11 references indexed in Scilit:
- Sensory Control in Singular Configurations Application to Visual ServoingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Living with the singularity of robot wristsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A solution to the singularity problem for six-joint manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- The Singular Value Decomposition: Computation and Applications to RoboticsThe International Journal of Robotics Research, 1989
- Numerical filtering for the operation of robotic manipulators through kinematically singular configurationsJournal of Robotic Systems, 1988
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987
- Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator ControlJournal of Dynamic Systems, Measurement, and Control, 1986
- Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares MethodsIEEE Transactions on Systems, Man, and Cybernetics, 1986
- Planning and Execution of Straight Line Manipulator TrajectoriesIBM Journal of Research and Development, 1979
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972