Singularity robust manipulator control using virtual joints

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2002, Pages 2418-2423

  Oetomo, Denny ^a   Ang, Marcelo H ^a   Lim, Tao Ming ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); MATRIX ALGEBRA; REAL TIME SYSTEMS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); UNIVERSAL JOINTS;

DISCONTINUOS CONTROL; JACOBIAN MATRIX; SINGULARITY HANDLING METHOD; VIRTUAL JOINTS;

MANIPULATORS;

EID: 0036057320     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013594     Document Type: Article

References (12)

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5. Manipulator control at kinematic singularities: A dynamically consistent strategy
6. A unified approach for motion and force control of robot manipulators: The operational space formulation
7. Inverse kinematics solutions with singularity robustness for robot manipulator control
8. Symbolical singular value decomposition for a 7-dof manipulator and its application to robot control
9. Derivation of redundant wrist manipulators to avoid interior workspace singularities
10. On the isotropic design of general six-degree-of-freedom parallel manipulators
11. The explicit dynamic model and inertial parameters of the puma 560 arm
12. Identification and analysis of robot manipulator singularities