Titlebook: Recent Advances in Robot Kinematics; Jadran Lenarčič,Vincenzo Parenti-Castelli Book 1996 Springer Science+Business Media Dordrecht 1996 ca

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Singularity-Robust Second-Order Kinematic Control of Robot Manipulatorskinematic singularities. A damped least-squares inverse of the Jacobian is used within a closed-loop inverse kinematics algorithm to compute joint accelerations, as well as velocities and positions by integration. These are input to a joint space computed torque control. Results are presented for a

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Dynamics and Control of Elastic Joint Robots on a Group Configurational Manifoldince the computational effectiveness of the vector-parameter approach increases with the increasing number of the revolute degrees of freedom, this fact is successfully used in the problems of elastic joint manipulators, where except the real . links, . fictious links are included as well as additio

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On-Line Collision-Recognition and Collision-Avoidance Control for Redundant Articulated Robots in the workspace are required. This reduces calculation time essentially, because joint positions in workspace can be computed at every time from the joint variables through robot geometry. It is supposed that the obstacles in the workspace of the manipulator are represented by convex polygons in 2

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Kinematic Manipulability of Closed Chainsive joints. The formulation treats both redundant and nonredun-dant mechanisms, as well as over actuated and exactly actuated ones, in a uniform manner. We illustrate the formulation with several planar closed chain examples.

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Acceleration Analysis, Via Screw Theory, and Characterization of Singularities of Closed Chainsy the velocity analysis only. Further, recent results have shown that the acceleration analysis of closed chains can be formulated very compactly via screw theory. Hence, it is possible to formulate a new methodology for the characterization of singular positions of closed chains. The authors believ