Jacobian matrix and determinant

Robot Modeling and Control

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Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review

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Robot Analysis: The Mechanics of Serial and Parallel Manipulators

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Singularity analysis of closed-loop kinematic chains

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Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

Yoshihiko Nakamura, Hideo Hanafusa

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Task-Priority Based Redundancy Control of Robot Manipulators

Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa

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A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

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Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing

Frank Dellaert, Michael Kaess

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Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots

Jean‐Pierre Merlet

Citations: 723 • 2005

Resolved motion rate control of space manipulators with generalized Jacobian matrix

Yoji Umetani, Kazuya Yoshida

Citations: 606 • 1989

A general framework for managing multiple tasks in highly redundant robotic systems

Bruno Siciliano, J.-J.E. Slotine

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Kinematic control of redundant robot manipulators: A tutorial

Bruno Siciliano

Citations: 579 • 1990

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Jean‐Pierre Merlet

Citations: 554 • 1989

Singular configurations of parallel manipulators and grassmann geometry

Jean‐Pierre Merlet

Citations: 499 • 1989

An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots

Kai Xu, Nabil Simaan

Citations: 390 • 2008

A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant

Tobias Mahl, Alexander Hildebrandt, Oliver Sawodny

Citations: 348 • 2014

Versatile visual servoing without knowledge of true Jacobian

Koh Hosoda, Minoru Asada

Citations: 345 • 2002

Enhanced stiffness modeling, identification and characterization for robot manipulators

Gürsel Alıcı, Bijan Shirinzadeh

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Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics

Chenguang Yang, Yiming Jiang, Jing Na, Zhijun Li, Long Cheng, Chun‐Yi Su

Citations: 325 • 2018

Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers

Shih-Feng Chen, Imin Kao

Citations: 322 • 2000