Industrial robots are regarded as essential instruments for advanced industry upgrading.
The kinematic parameters of an industrial robot should be calibrated precisely to guarantee …

An inverse kinematic mapping for redundant serial manipulators is presented at the
configuration level, for which periodic manipulator operational trajectories map into periodic …

Kinematic control of redundant serial manipulators has been carried out for the past half
century based primarily on a generalized inverse velocity formulation that is known to have …

The excess in number of input coordinates over the number of output coordinates that
characterize kinematically redundant serial manipulators provides an opportunity to achieve …

This electronic text uses modern methods of differential geometry to (1) obtain ordinary
differential equations (ODE) of motion for mechanical system dynamics,(2) construct …

When a robot suffers a Free Swing Joint Failure, it becomes underactuated since some of its
actuated joints become passive. If the joints that remain actuated are locked, the robot can …

Increasing the degrees of freedom (DoFs) of robotic systems makes them more versatile and
flexible. This usually renders the system kinematically redundant: the main manipulation or …

Redundant non-serial manipulators that include a spectrum of parallel and non-parallel
heavy load bearing construction and material handling equipment are treated, using …

A recently developed differential geometric representation of redundant serial robot
kinematics is employed to create a new extended operational space dynamics and control …

This paper proposes a calculation method for the optimal solution of the inverse kinematics
of redundant robots. Specifically, eight sets of vector solutions of redundant robots are …