Jacobian matrix and determinant

Robot Modeling and Control

Mark W. Spong, Seth Hutchinson, M. Vidyasagar

引用数: 3281 • 2006

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

Robert J. Webster, Bryan A. Jones

引用数: 2213 • 2010

Robot Analysis: The Mechanics of Serial and Parallel Manipulators

Lung‐Wen Tsai

引用数: 1851 • 1999

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles

引用数: 1719 • 1990

Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

Yoshihiko Nakamura, Hideo Hanafusa

引用数: 1064 • 1986

Task-Priority Based Redundancy Control of Robot Manipulators

Yoshihiko Nakamura, Hideo Hanafusa, Tsuneo Yoshikawa

引用数: 1002 • 1987

A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

Clément Gosselin, Jorge Angeles

引用数: 948 • 1991

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

Frank Dellaert, Michael Kaess

引用数: 917 • 2006

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

Jean‐Pierre Merlet

引用数: 723 • 2005

Resolved motion rate control of space manipulators with generalized Jacobian matrix

Yoji Umetani, Kazuya Yoshida

引用数: 606 • 1989

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

Bruno Siciliano, J.-J.E. Slotine

引用数: 592 • 1991

Kinematic control of redundant robot manipulators: A tutorial

Bruno Siciliano

引用数: 579 • 1990

Singular Configurations of Parallel Manipulators and Grassmann Geometry

Jean‐Pierre Merlet

引用数: 554 • 1989

Singular configurations of parallel manipulators and grassmann geometry

Jean‐Pierre Merlet

引用数: 499 • 1989

An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots

Kai Xu, Nabil Simaan

引用数: 390 • 2008

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

Tobias Mahl, Alexander Hildebrandt, Oliver Sawodny

引用数: 348 • 2014

Versatile visual servoing without knowledge of true Jacobian

Koh Hosoda, Minoru Asada

引用数: 345 • 2002

Enhanced stiffness modeling, identification and characterization for robot manipulators

Gürsel Alıcı, Bijan Shirinzadeh

引用数: 344 • 2005

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

引用数: 325 • 2018

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

Shih-Feng Chen, Imin Kao

引用数: 322 • 2000