| contributor author | J. Angeles | |
| contributor author | K. Anderson | |
| contributor author | X. Cyril | |
| contributor author | B. Chen | |
| date accessioned | 2017-05-08T23:26:51Z | |
| date available | 2017-05-08T23:26:51Z | |
| date copyright | September, 1988 | |
| date issued | 1988 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26104#246_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/103717 | |
| description abstract | Presented in this paper is an algorithm that allows the numerical kinematic inversion of robot manipulators in the presence of singularities. It is aimed at continuous-path applications, in which known algorithms produce branch switching and hence jump discontinuities in the joint rates. In the algorithm proposed here the joint rates are computed at singularities as the solution of a quadratic-programming problem that eliminates branch switching. Joint accelerations are computed likewise, and joint angles by Taylor expansion using up to quadratic terms. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | The Kinematic Inversion of Robot Manipulators in the Presence of Singularities | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 3 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3152678 | |
| journal fristpage | 246 | |
| journal lastpage | 254 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1988:;volume( 110 ):;issue: 003 | |
| contenttype | Fulltext | |