Cartesian coordinate control for redundant modular robots

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

Volumn 5, Issue , 2000, Pages 3253-3258

  Chen, Weihai ^a   Chen, I Ming ^b   Lim, Wee Kiat ^b   Yang, Guilin ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b SINGAPORE INSTITUTE OF MANUFACTURING TECHNOLOGY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); INTERPOLATION; INVERSE KINEMATICS; MATRIX ALGEBRA; OPTIMIZATION; REDUNDANCY; ROBOTICS;

CARTESIAN COORDINATES; KINEMATICS ALGORITHMS; ONLINE CONTROL METHOD; REDUNDANT ROBOTS;

MODULAR ROBOTS;

EID: 0034510730     PISSN: 08843627     EISSN: None     Source Type: Journal    
DOI: 10.1109/ICSMC.2000.886505     Document Type: Article

References (13)

1. E. C. Wu J. C. Huang J. T. Chladek Fault-Tolerant Joint Development for the Space Shuttle Remote Manipulator System: Analysis & Experiment IEEE Transactions on Robotics & Automation 9 5 675 684 1995
2. C. J. J. Paredis P. K. Khosla Agent-Based Design of Fault Tolerant Manipulators for Satellite docking Proc. of IEEE Inter. Conf. on Robotics and Automation 3473 3480 Proc. of IEEE Inter. Conf. on Robotics and Automation 1997
3. L. Y. Li On Control of Fault-Tolerant Robots with Redundancies 1996 Beijing University of Aeronautics and Astronautics
4. I. M. Chen S. H. Yeo G. Chen G. L. Yang Kernal for Modular Robot Applications-Automatic Modelling Techaniques International Journal of Robotics Research 18 2 225 242 1999
5. G. L. Yang I. M. Chen W. K. Lim S. H. Yeo Design & Kinematic Analysis of Modular Reconfigurable Parallel Robots Proc. of IEEE Inter. Conf. on Robotics and Automation 2501 2506 Proc. of IEEE Inter. Conf. on Robotics and Automation USA 1999
6. I. M. Chen G. L. Yang An evolutionary algorithm for the reduction of DOFs in modular reconfigurable robots Proceeding of the ASME Dynamic System and Control Division DSC-64 759 766 Proceeding of the ASME Dynamic System and Control Division 1998
7. C. J. J. Paredis An Agent-Based Approach to the Design of Repidly Deployable Fault Tolerant Manipulators Carnegie Mellon University USA
8. I. M. Chen G. L. Yang Inverse Kinematics for Modular Reconfigurable Robots Proc. of IEEE Inter. Conf. on Robotics and Automation 1647 1652 Proc. of IEEE Inter. Conf. on Robotics and Automation 1998
9. G. L. Yang Kinematics, Dynamics Calibration, and Configuration Optimization of Modular Reconfigurable Robots 1999 Nanyang Technological University
10. F. C. Park Computational Aspect of Manipulators via Product of Exponential Formula for Robot Kinematics IEEE Transaction on Automatic Control 39 9 643 647 1994
11. R. M. Murray Z. X. Li S. S. Sastry A Mathematical Introduction to Robotic Manipulation 1994 CRC Press
12. M. L. Curtis Matrix Groups Second 1984 New York, Berlin, Heidelberg, Tokyo
13. W. H. Chen On the Control of Robots with Optimization in Redundancy Resolution 1996 Beijing University of Aeronautics and Astronautics