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A robust numerical solution of the prioritized inverse kinematics is proposed. It is based on the augmented Lagrangian function and Hestenes-Powell's multiplier method. It originates the weighted inverse kinematics and only requires a small modification including an accumulation of the error of the high-priority constraint at each step of iteration and an estimation of Lagrange's multiplier. Hence,...
This paper introduces a new method for workspace boundary determination on general structure manipulators. The method uses a branch-and-prune technique to isolate a set of output singularities and then classifies the points on such a set according to whether they correspond to motion impediments in the workspace. A detailed map of the workspace is obtained as a result, where all interior and exterior...
Most existing approaches so far on position/force control of constrained robots always suffer from the complexity of the arm model that may cause difficulty in practical application. In this paper, a robust joint-model-based controller is proposed to deal with the problem of hybrid position/force control for constrained robots. The development of the controller is based on a novel formulation of the...
Most methods for controlling redundant manipulators are based on local or instantaneous solutions of the kinematic velocity equation, for a given hand-space path or displacement. However, the global behavior needs to be determined a-priori to avoid unexpected problems like non-repeatability, instability and more. Global motion planning must pertain not only to the motion of the end-effector but to...
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