A solution to the singular inverse kinematic problem for a manipulation robot mounted on a track

Control Engineering Practice

Volumn 10, Issue 1, 2002, Pages 35-43

  Muszyński, Robert ^a  

^a WROCLAW UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Kinematics; Normal form; Robotic manipulator; Singular inverse kinematic problem; Singularities

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; INVERSE KINEMATICS; ROBOT APPLICATIONS;

SINGULAR CONFIGURATIONS;

MANIPULATORS;

CONTROL; KINEMATICS; ROBOT;

EID: 0036141416     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(01)00101-0     Document Type: Article

References (21)

1. Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator
2. A kinematic notation for lower-pair mechanisms based on matrices
3. Robots and fibre bundles
4. Manipulator inverse kinematics for untimed end-effector trajectories with ordinary singularities
5. Differential analysis of bifurcations and isolated singularities for robots and mechanisms
6. Normal forms of non-redundant singular robot kinematics: Three DOF worked examples
7. A solution to the singular inverse kinematic problem for a planar manipulation robot mounted on a track
8. Tracking manipulator trajectories with ordinary singularities: A null space-based approach
9. Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators
10. On the existence and the manipulability recovery rate of self-motion at manipulator singularities
11. The singularities of redundant robot arm
12. Singularities in mechanisms 1
13. On avoiding singularities in redundant robot kinematics
14. On inverting singular kinematics and geodesic trajectory generation for robot manipulators
15. Singularities of non-redundant robot kinematics
16. Singular inverse kinematic problem for robotic manipulators: A normal form approach
17. Kinematic singularities of the IRp-6 manipulator mounted on a track
18. Teleoperation based on adjoint Jacobian approach
19. The mathematics of coordinated control of prosthetic arms and manipulators