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  • 1
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    Task-Directed Inverse Kinematics For Redundant Manipulators (1994)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: Paper presents algorithms for use in controlling redundant robotic manipulators in such way as to exploit redundancy to satisfy task requirements beyond placement of end effectors at desired positions and orientations.
    Keywords: MACHINERY
    Type: NPO-18680 , NASA Tech Briefs (ISSN 0145-319X); 18; 4; P. 82
    Format: text
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    NASA TECHNICAL REPORTS
  • 2
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    Extended-Task-Space Control For Robotic Manipulators (1993)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: Extended-task-space concept provides unified approach for control of both redundant and nonredundant manipulators: theoretical framework for complete description of set of mechanism commands in terms of task-space commands, and singularity-avoidance scheme providing robustness at and near singular points of workspace while not degrading performance in nonsingular regions.
    Keywords: MACHINERY
    Type: NPO-18902 , NASA Tech Briefs (ISSN 0145-319X); 17; 10; P. 97
    Format: text
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    NASA TECHNICAL REPORTS
  • 3
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    More Uses For Configuration Control Of Robots (1993)
    In:  Other Sources
    Details
    Publication Date: 2019-07-12
    Description: Two papers present theoretical studies of older and newer uses for configuration control. Configuration control described in "Increasing the Dexterity of Redundant Robots" (NPO-17801) and "Redundant Robot Can Avoid Obstacles" (NPO-17852). One paper "Configuration Control of 7 DOF Arms" reviews these concepts, then applies them to commercial robotic arm having seven revolute joints corresponding to those of human arm. Other paper "New Goals for Redundancy Resolution Using Configuration Control" addresses use of redundant degrees of freedom to optimize dynamical instead of kinematical aspects of performance.
    Keywords: MACHINERY
    Type: NPO-18607 , NPO-18608 , NASA Tech Briefs (ISSN 0145-319X); 17; 10; P. 120
    Format: text
    Location Call Number Expected Availability
    BibTip Others were also interested in ...
    NASA TECHNICAL REPORTS
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