Inverse kinematic solutions with singularity robustness for robot manipulator control

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 108, Issue 3, 1986, Pages 163-171

  Nakamura, Yoshihiko ^a   Hanafusa, Hideo ^b  

^a KYOTO UNIVERSITY   (Japan)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS - ROBUSTNESS; KINEMATICS; MATHEMATICAL TECHNIQUES;

ROBOT MANIPULATOR CONTROL; SINGULARITY PROBLEM; SINGULARITY ROBUSTNESS;

ROBOTS, INDUSTRIAL;

EID: 0022787052     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.3143764     Document Type: Article

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