Task reconstruction method for real-time singularity avoidance for robotic manipulators

Advanced Robotics

Volumn 20, Issue 4, 2006, Pages 453-481

  Kim, Jinhyun ^a   Marani, Giacomo ^b,d   Chung, Wan Kyun ^a,e   Yuh, Junku ^c,f,g  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

^b UNIVERSITY OF HAWAII   (United States)

^c NATIONAL SCIENCE FOUNDATION   (United States)

^d Autonomous Systems Laboratory

^e National Research Laboratory for Intelligent Mobile Robot Navigation   (South Korea)

^f Division of Information and Intelligent Systems

^g IEEE

Author keywords

Algorithmic singularity; Dynamic task priority; Kinematic singularity; Singularity avoidance; Task reconstruction

Indexed keywords

ALGORITHMS; GAIN CONTROL; KINEMATICS; REAL TIME SYSTEMS; ROBOT PROGRAMMING; ROBOTICS;

ALGORITHMIC SINGULARITY; DYNAMIC TASK PRIORITY; KINEMATIC SINGULARITY; SINGULARITY AVOIDANCE; TASK RECONSTRUCTION;

MANIPULATORS;

EID: 33744809032     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/156855306776562233     Document Type: Article

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