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Volumn 36, Issue 3, 2001, Pages 397-409

Reciprocity-based resolution of velocity degeneracies (singularities) for redundant manipulators

Author keywords

[No Author keywords available]

Indexed keywords

BOUNDARY CONDITIONS; DEGREES OF FREEDOM (MECHANICS); MANIPULATORS; ROBOTICS;

EID: 0035284032     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(00)00051-3     Document Type: Article
Times cited : (35)

References (19)
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    • (1986) Robotica , vol.4 , pp. 171-179
    • Hunt, K.H.1
  • 2
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    • Special configurations of robot-arms via screw theory, Part 2: Available end-effector displacements
    • Hunt K.H. Special configurations of robot-arms via screw theory, Part 2: Available end-effector displacements. Robotica. 5:1987;17-22.
    • (1987) Robotica , vol.5 , pp. 17-22
    • Hunt, K.H.1
  • 5
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    • Configurations of robot's manipulators and their identification, and the execution of prescribed trajectories. Part 1: Basic concepts
    • Litvin F.L., Parenti-Castelli V. Configurations of robot's manipulators and their identification, and the execution of prescribed trajectories. Part 1: Basic concepts. Trans. ASME, J. Mech., Transmissions Automat. Design. 107:1985;170-178.
    • (1985) Trans. ASME, J. Mech., Transmissions Automat. Design , vol.107 , pp. 170-178
    • Litvin, F.L.1    Parenti-Castelli, V.2
  • 6
    • 0022075934 scopus 로고
    • Configurations of robot's manipulators and their identification and the execution of prescribed trajectories. Part 2: Investigations of manipulators having five, seven, and eight degrees of freedom
    • Litvin F.L.et al. Configurations of robot's manipulators and their identification and the execution of prescribed trajectories. Part 2: Investigations of manipulators having five, seven, and eight degrees of freedom. Trans. ASME, J. Mech., Transmissions Automat. Design. 107:1985;179-188.
    • (1985) Trans. ASME, J. Mech., Transmissions Automat. Design , vol.107 , pp. 179-188
    • Litvin, F.L.1
  • 7
    • 0022735896 scopus 로고
    • Singularities, configurations, and displacement functions for manipulators
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    • (1986) Int. J. Robotics Res. , vol.5 , Issue.2 , pp. 52-65
    • Litvin, F.L.1
  • 8
    • 0026243405 scopus 로고
    • Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases
    • Podhorodeski R.P., Goldenberg A.A., Fenton R.G. Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases. IEEE Trans. Robotics Automat. 7(5):1991;607-618.
    • (1991) IEEE Trans. Robotics Automat. , vol.7 , Issue.5 , pp. 607-618
    • Podhorodeski, R.P.1    Goldenberg, A.A.2    Fenton, R.G.3
  • 9
    • 0027659544 scopus 로고
    • A null-space solution of the inverse kinematics of redundant manipulators based on a decomposition of screws
    • Podhorodeski R.P., Goldenberg A.A., Fenton R.G. A null-space solution of the inverse kinematics of redundant manipulators based on a decomposition of screws. Trans. ASME, J. Mech. Design. 115:1993;530-539.
    • (1993) Trans. ASME, J. Mech. Design , vol.115 , pp. 530-539
    • Podhorodeski, R.P.1    Goldenberg, A.A.2    Fenton, R.G.3
  • 12
    • 0029277864 scopus 로고
    • A recursive method for finding revolute-jointed manipulator singularities
    • Burdick J.W. A recursive method for finding revolute-jointed manipulator singularities. Trans. ASME, J. Mech. Design. 117:1995;55-63.
    • (1995) Trans. ASME, J. Mech. Design , vol.117 , pp. 55-63
    • Burdick, J.W.1
  • 15
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    • Special configurations of spatial mechanisms and robot arms
    • Sugimoto K., Duffy J., Hunt K.H. Special configurations of spatial mechanisms and robot arms. Mech. Mach. Theory. 17(2):1982;119-132.
    • (1982) Mech. Mach. Theory , vol.17 , Issue.2 , pp. 119-132
    • Sugimoto, K.1    Duffy, J.2    Hunt, K.H.3
  • 17
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    • A kinematic notation for lower-pair mechanisms based on matrices
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    • (1995) Trans. ASME, J. Appl. Mech. , pp. 215-221
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  • 18
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    • Podhorodeski R.P. An approach for ensuring manipulator tip accuracy near singularities. Mech. Mach. Theory. 28(5):1993;641-649.
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    • Podhorodeski, R.P.1


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.