Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution

By M. Shimizu, H. Kakuya, W. Yoon, K. Kitagaki, K. Kosuge. IEEE Transactions on robotics, 2008

307 citations recorded by the source corpus.

Subfields: Control and Systems Engineering, Industrial and Manufacturing Engineering

View Paper: https://www.semanticscholar.org/paper/303d67d4b087a1d063606aa59c324fb53a9ccdf3

How researchers see this paper

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In Control and Systems Engineering

1. Fabio Amadio
2. Adrià Colomé
3. Carme Torras

Citations in the corpus

• Exploiting Symmetries in Reinforcement Learning of Bimanual Robotic Tasks (2019, methodology): “executed by solving inverse kinematics for the robotic manipulators, like in [13]–[15] and passing joints commands to the robot arm.”
• Position-based kinematics for 7-DoF serial manipulators with global configuration control, joint limit and singularity avoidance (2018, methodology): “However, velocity-based control exhibits several disadvantages when compared to positionbased control: i) computationally more expensive, returning only one solution [8, 24]; ii) difficult to map joint limits or configurations in the velocity domain [25]; iii) subject to error instability due to cum”