Distribution of singularity and optimal control of redundant parallel manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2001, Pages 177-182

  Liu, G F ^a   Cheng, H ^a   Xiong, Z H ^a   Wu, X Z ^a   Wu, Y L ^a   Li, Z X ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; DYNAMICS; END EFFECTORS; KINEMATICS; MECHANISMS; MOTION CONTROL; OPTIMAL CONTROL SYSTEMS; REDUNDANCY; ROBOTICS;

PARALLEL MECHANISMS; PARAMETERIZATION SINGULARITIES; STABLE SINGULARITIES;

REDUNDANT MANIPULATORS;

EID: 0035559844     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. Special configurations of spatial mechanisms and robot arms
2. A study of the singular configurations of serial manipulators
3. Differential geometric analysis of singularities of point trajectories of serial and parallel manipulators
4. Singularity analysis of closed-loop kinematic chains
5. Singularity analysis of closed kinematic chains
6. On the dynamics of parallel manipulators
7. Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator
8. Analysis and control of redundant parallel manipulators
9. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators
10. Modeling and PD control of closed-chain mechanical systems