...Alan Bowling; Sean Harmeyer This paper presents a repeatable control scheme for redundant manipulators. It is developed in terms of physically meaningful variables, a concept closely related to integrability and homogeneity. This approach sheds a different light on some well-known phenomena related...

...Youngjin Choi In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem...

... for Avoiding Joint Limits for Redundant Joint Manipulators ,” IEEE Trans. Rob. Autom. 1042-296X , 11 ( 2 ), pp. 286 – 292 . Zhang , Y. N. , Wang , J. , and Xu , Y. S. , 2002 , “ A Dual Neural Network for Bi-Criteria Kinematic Control of Redundant Manipulators ,” IEEE Trans. Rob...

...Bradley E. Bishop In this work, we consider the control of platoons of cooperating nonholonomic vehicles. Using techniques based on redundant manipulator control, the platoon is treated as a single entity with a set of platoon-level objectives. The class of tricyclelike robots, with limits...

... control system synthesis micromanipulators redundant manipulators flexible manipulators manipulator dynamics position control stability 2 In many practical applications involving long-reach manipulation it is desirable to have a smaller manipulator, called a micromanipulator, located...

... manipulators position control tracking cooperative systems stability inverse problems manipulator dynamics actuators torque redundant manipulators nonlinear control systems nonlinear dynamical systems Flexible Manipulators Inversion Control Zero Dynamics Nonminimum Phase System Internal...