Gravitational singularity

A unified approach for motion and force control of robot manipulators: The operational space formulation

Oussama Khatib

Citations: 2917 • 1987

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles

Citations: 1719 • 1990

A Stewart Platform- Based Manipulator: General Theory and Practical Construction

E. F. Fichter

Citations: 794 • 1986

Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators

S. Chiaverini

Citations: 669 • 1997

Non-reciprocal phase transitions

Citations: 513 • 2021

Revisiting trilateration for robot localization

Federico Thomas, Lluís Ros

Citations: 339 • 2005

Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator

S. Chiaverini, Bruno Siciliano, Olav Egeland

Citations: 299 • 1994

Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance

H. Hoffmann, Peter Pástor, Dae-Hyung Park, Stefan Schaal

Citations: 282 • 2009

Model-Less Feedback Control of Continuum Manipulators in Constrained Environments

Michael C. Yip, David B. Camarillo

Citations: 253 • 2014

Numerical filtering for the operation of robotic manipulators through kinematically singular configurations

Anthony A. Maciejewski, Charles A. Klein

Citations: 238 • 1988

On an Improved State Parametrization for Soft Robots With Piecewise Constant Curvature and Its Use in Model Based Control

Cosimo Della Santina, Antonio Bicchi, Daniela Rus

Citations: 217 • 2020

The Singular Value Decomposition: Computation and Applications to Robotics

Anthony A. Maciejewski, Charles A. Klein

Citations: 196 • 1989

Computation of Path Constrained Time Optimal Motions With Dynamic Singularities

Zvi Shiller, Hsueh-Hen Lu

Citations: 191 • 1992

Dynamic shape

Jan J. Koenderink, Andrea J. van Doorn

Citations: 182 • 1986

Singularity-Free Fully-Isotropic Translational Parallel Mechanisms

Marco Carricato, Vincenzo Parenti‐Castelli

Citations: 174 • 2002

Improved configuration control for redundant robots

H. Seraji, R. Colbaugh

Citations: 165 • 1990

Trajectory planning of free-floating space robot using Particle Swarm Optimization (PSO)

Mingming Wang, Jianjun Luo, Ulrich Walter

Citations: 150 • 2015

Kinematic and static characterization of wrist joints and their optimal design

H. Harry Asada, Jose A. Cro Granito

Citations: 146 • 2005

Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism

F. Behi

Citations: 140 • 1988

Constant curvature continuum kinematics as fast approximate model for the Bionic Handling Assistant

Matthias Rolf, Jochen J. Steil

Citations: 134 • 2012