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The influence of coordinates in robotic manipulability analysis

  • Published:2020-04 Issue: Volume:146 Page:103722
  • ISSN:0094-114X
  • Container-title:Mechanism and Machine Theory
  • language:en
  • Short-container-title:Mechanism and Machine Theory

Author:

Lachner Johannes,Schettino Vincenzo,Allmendinger Felix,Fiore Mario Daniele,Ficuciello Fanny,Siciliano Bruno,Stramigioli Stefano

Publisher

Elsevier BV

Subject

Computer Science Applications,Mechanical Engineering,Mechanics of Materials,Bioengineering

Reference39 articles.

1. A new method for robot control in singular configurations with motion in any cartesian direction;Chevallereau,1994

2. Manipulability analysis;Vahrenkamp,2012

3. Sensory control in singular configurations application to visual servoing;Egeland,1990

4. Constrained kinematic control in minimally invasive robotic surgery subject to remote center of motion constraint;Sadeghian;J. Intell. Robot. Syst.,2019

5. A geometrical representation of manipulator dynamics and its application to arm design;Asada;J. Dyn. Syst. Meas.Control,1983

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