Matches in SemOpenAlex for { <https://semopenalex.org/work/W2086760092> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W2086760092 abstract "Inverse kinematics of robotic manipulators poses a challenging problem, especially near singular configurations where the joint velocities tend to become extremely high, even if the minimum-norm pseudo-inverse solution is used. The singularity robust inverse (SRI), which arises from the damped least-squares technique, damps joint velocities using a damping factor but causes some deviation of the end-effector from its specified trajectory. The trade-off between obtaining an accurate solution and a feasible one is decided by the damping factor. In this work, we present a new optimal method of computing the damping factor which yields minimum end-effector deviation while ensuring feasible joint velocities. This method is computationally efficient with an added advantage in that it can be implemented even if the SVD of the Jacobian is not available. The method is effective for both planar and spatial manipulators, redundant or non-redundant. This is borne out by the simulations presented at the end of this paper." @default.
- W2086760092 created "2016-06-24" @default.
- W2086760092 creator A5011466895 @default.
- W2086760092 creator A5023250674 @default.
- W2086760092 date "1992-03-01" @default.
- W2086760092 modified "2023-10-14" @default.
- W2086760092 title "<title>Optimal damped least-squares methods for inverse kinematics of robot manipulators</title>" @default.
- W2086760092 doi "https://doi.org/10.1117/12.56752" @default.
- W2086760092 hasPublicationYear "1992" @default.
- W2086760092 type Work @default.
- W2086760092 sameAs 2086760092 @default.
- W2086760092 citedByCount "2" @default.
- W2086760092 countsByYear W20867600922023 @default.
- W2086760092 crossrefType "proceedings-article" @default.
- W2086760092 hasAuthorship W2086760092A5011466895 @default.
- W2086760092 hasAuthorship W2086760092A5023250674 @default.
- W2086760092 hasConcept C11413529 @default.
- W2086760092 hasConcept C121332964 @default.
- W2086760092 hasConcept C1276947 @default.
- W2086760092 hasConcept C134306372 @default.
- W2086760092 hasConcept C135252773 @default.
- W2086760092 hasConcept C13662910 @default.
- W2086760092 hasConcept C154945302 @default.
- W2086760092 hasConcept C16171025 @default.
- W2086760092 hasConcept C17816587 @default.
- W2086760092 hasConcept C200331156 @default.
- W2086760092 hasConcept C207467116 @default.
- W2086760092 hasConcept C21556879 @default.
- W2086760092 hasConcept C22789450 @default.
- W2086760092 hasConcept C2524010 @default.
- W2086760092 hasConcept C2775924081 @default.
- W2086760092 hasConcept C28826006 @default.
- W2086760092 hasConcept C33923547 @default.
- W2086760092 hasConcept C39920418 @default.
- W2086760092 hasConcept C41008148 @default.
- W2086760092 hasConcept C47446073 @default.
- W2086760092 hasConcept C74650414 @default.
- W2086760092 hasConcept C8652668 @default.
- W2086760092 hasConcept C90509273 @default.
- W2086760092 hasConceptScore W2086760092C11413529 @default.
- W2086760092 hasConceptScore W2086760092C121332964 @default.
- W2086760092 hasConceptScore W2086760092C1276947 @default.
- W2086760092 hasConceptScore W2086760092C134306372 @default.
- W2086760092 hasConceptScore W2086760092C135252773 @default.
- W2086760092 hasConceptScore W2086760092C13662910 @default.
- W2086760092 hasConceptScore W2086760092C154945302 @default.
- W2086760092 hasConceptScore W2086760092C16171025 @default.
- W2086760092 hasConceptScore W2086760092C17816587 @default.
- W2086760092 hasConceptScore W2086760092C200331156 @default.
- W2086760092 hasConceptScore W2086760092C207467116 @default.
- W2086760092 hasConceptScore W2086760092C21556879 @default.
- W2086760092 hasConceptScore W2086760092C22789450 @default.
- W2086760092 hasConceptScore W2086760092C2524010 @default.
- W2086760092 hasConceptScore W2086760092C2775924081 @default.
- W2086760092 hasConceptScore W2086760092C28826006 @default.
- W2086760092 hasConceptScore W2086760092C33923547 @default.
- W2086760092 hasConceptScore W2086760092C39920418 @default.
- W2086760092 hasConceptScore W2086760092C41008148 @default.
- W2086760092 hasConceptScore W2086760092C47446073 @default.
- W2086760092 hasConceptScore W2086760092C74650414 @default.
- W2086760092 hasConceptScore W2086760092C8652668 @default.
- W2086760092 hasConceptScore W2086760092C90509273 @default.
- W2086760092 hasLocation W20867600921 @default.
- W2086760092 hasOpenAccess W2086760092 @default.
- W2086760092 hasPrimaryLocation W20867600921 @default.
- W2086760092 hasRelatedWork W1968373966 @default.
- W2086760092 hasRelatedWork W2015003349 @default.
- W2086760092 hasRelatedWork W2041126047 @default.
- W2086760092 hasRelatedWork W2073021428 @default.
- W2086760092 hasRelatedWork W2115639333 @default.
- W2086760092 hasRelatedWork W2135044092 @default.
- W2086760092 hasRelatedWork W2364375350 @default.
- W2086760092 hasRelatedWork W2775067636 @default.
- W2086760092 hasRelatedWork W3003321721 @default.
- W2086760092 hasRelatedWork W3126987580 @default.
- W2086760092 isParatext "false" @default.
- W2086760092 isRetracted "false" @default.
- W2086760092 magId "2086760092" @default.
- W2086760092 workType "article" @default.