Kinematic programming alternatives for redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 1985, Pages 722-728

  Baillieul, John ^a  

^a BOSTON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE PROBLEMS; REDUNDANT MANIPULATORS; ROBOT PROGRAMMING; ROBOTICS;

EXTENDED JACOBIAN; GENERALIZED INVERSE; JOINT ANGLE; NEW APPROACHES; PARAMETERIZED;

INDUSTRIAL MANIPULATORS;

EID: 84995041953     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1985.1087234     Document Type: Conference Paper

References (9)

1. Baillieul, J., Brockett, R.W., and Hollerbach, J. (1984a), Kinematically Reduant Robot Manipulators, Final Report for U.S. Air Force Contract No. F33615-83-C5115, Scientific Systems, Inc., Cambridge, MA, June, 1984.
2. Baillienl, J., Hollerbach, J., and Brockett, R.W. (1984b), 'Programming and Control of Kinematically Redundant Manipulators,' Proc. of the f 23-rd IEEE Conference on Decision and Control., Las Vegas, December 1984, pp. 768-774.
3. Hanafusa, H., Yoshikawa, T. and Nakamura, Y, (1981), 'Analysis and Control of Articulated Robot Arms with Redundancy,' IFAC Proceedings, pp. XIV-78 thru XIV-83.
4. Klein, CA., and Huang, C.-H. (1983), 'Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators,' IEEE Trans. on Systems, Man and Cybernetics, vol. SMC-13 pp. 245-250.
5. Konstantinov, M.S., Patarinski, S.P., Zamanov, V.B., and Nenchev, D.N. (1982), 'A Contribution to the Inverse Kinematic Problem for Industrial Robots', 12th International Symposium on Industrial Robots, Paris, published by IFS (Publications) Ltd., 35-39 High Street, Kempston, Bedford, ENGLAND.
6. Liegeois, A. (1977), 'Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms,' IEEE Trans. Syst., Man Cybern. V. SMC-7, No.12.
7. Noble, B. and Daniel, J.W. (1977), Applied Linegr Algebra (Second Edition), Prentice-Hall, Inc., Englewood Cliffs, N.J.
8. Yoshikawa, T. (1984a), 'Manipulatability of Robotic Mechanisms,' Second Internationl Sysposium on Robotics Research, Kyoto, JAPAN, August 20-23, 1984.
9. Yoshikawa, T. (1984b), 'Analysis and Control of Robotics Manipulators with Redundancy,' in Robotics Research The First International Symposium, Brady and Paul, Eds., MIT Press, Cambridge, MA.