On the Stability of Closed-Loop Inverse Kinematics Algorithms for Redundant Robots

Pietro Falco; Ciro Natale

doi:10.1109/tro.2011.2135210

On the Stability of Closed-Loop Inverse Kinematics Algorithms for Redundant Robots

IEEE Transactions on Robotics ◽

10.1109/tro.2011.2135210 ◽

2011 ◽

Vol 27 (4) ◽

pp. 780-784 ◽

Cited By ~ 42

Author(s):

Pietro Falco ◽

Ciro Natale

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Redundant Robots ◽

The Stability ◽

Loop Inverse

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Closed-Loop Inverse Kinematics for Redundant Robots: Comparative Assessment and Two Enhancements

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2014.2326304 ◽

2015 ◽

Vol 20 (2) ◽

pp. 944-955 ◽

Cited By ~ 46

Author(s):

Adria Colome ◽

Carme Torras

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Comparative Assessment ◽

Redundant Robots ◽

Loop Inverse

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Closed-loop inverse kinematics under inequality constraints: Application to concentric-tube manipulators

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2014.6942605 ◽

2014 ◽

Cited By ~ 3

Author(s):

Hamidreza Azimian ◽

Thomas Looi ◽

James Drake

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Inequality Constraints ◽

Loop Inverse

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Multi-task closed-loop inverse kinematics stability through semidefinite programming

2020 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra40945.2020.9196750 ◽

2020 ◽

Author(s):

Josep Marti-Saumell ◽

Angel Santamaria-Navarro ◽

Carlos Ocampo-Martinez ◽

Juan Andrade-Cetto

Keyword(s):

Semidefinite Programming ◽

Inverse Kinematics ◽

Closed Loop ◽

Loop Inverse

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Integral action in first-order Closed-Loop Inverse Kinematics. Application to aerial manipulators

2015 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2015.7139938 ◽

2015 ◽

Cited By ~ 13

Author(s):

M. I. Sanchez ◽

J. A. Acosta ◽

A. Ollero

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

First Order ◽

Integral Action ◽

Loop Inverse

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Second-order and implicit methods in numerical integration improve tracking performance of the closed-loop inverse kinematics algorithm

2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC) ◽

10.1109/smc.2016.7844753 ◽

2016 ◽

Author(s):

Daniel Andras Drexler ◽

Levente Kovacs

Keyword(s):

Numerical Integration ◽

Inverse Kinematics ◽

Closed Loop ◽

Second Order ◽

Tracking Performance ◽

Implicit Methods ◽

Loop Inverse

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Constrained closed loop inverse kinematics

2010 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.2010.5509456 ◽

2010 ◽

Cited By ~ 13

Author(s):

Behzad Dariush ◽

Youding Zhu ◽

Arjun Arumbakkam ◽

Kikuo Fujimura

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Loop Inverse

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A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Robotics ◽

10.3390/robotics7010007 ◽

2018 ◽

Vol 7 (1) ◽

pp. 7 ◽

Cited By ~ 7

Author(s):

Emil Bjoerlykhaug

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Loop Inverse

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Closed-loop inverse kinematics algorithms for redundant spacecraft/manipulator systems

[1993] Proceedings IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1993.291865 ◽

2002 ◽

Cited By ~ 7

Author(s):

B. Siciliano

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Loop Inverse

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Closed-loop inverse kinematics algorithm for constrained flexible manipulators under gravity

Journal of Robotic Systems ◽

10.1002/(sici)1097-4563(199906)16:6<353::aid-rob4>3.0.co;2-e ◽

1999 ◽

Vol 16 (6) ◽

pp. 353-362 ◽

Cited By ~ 7

Author(s):

Bruno Siciliano

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Flexible Manipulators ◽

Loop Inverse

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A Closed Loop Inverse Kinematics and Control Scheme for one Class of Offset-Joint 7-DOF Redundant Manipulator

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio49542.2019.8961452 ◽

2019 ◽

Author(s):

Yukun Zheng ◽

Hongxiang Yuan ◽

Rui Song ◽

Xin Ma ◽

Yibin Li

Keyword(s):

Inverse Kinematics ◽

Closed Loop ◽

Redundant Manipulator ◽

Control Scheme ◽

And Control ◽

Loop Inverse

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