IEEE Transactions on Systems, Man and Cybernetics
Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
Neural, Parallel & Scientific Computations
Journal of Intelligent and Robotic Systems
Escapability of singular configuration for redundant manipulators via self-motion
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Computing inverse kinematics with linear programming
Proceedings of the ACM symposium on Virtual reality software and technology
A dual neural network for kinematic control of redundant robotmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Obstacle avoidance for kinematically redundant manipulators using a dual neural network
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Recurrent neural networks for minimum infinity-norm kinematic control of redundant manipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
IEEE Transactions on Neural Networks
A Lagrangian network for kinematic control of redundant robot manipulators
IEEE Transactions on Neural Networks
IEEE Transactions on Neural Networks
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In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) problem from a geometric point of view. We propose two new methods, Velocity Projection Constraints Method (VPCM) and On-line Task Modification Method (OTMM), which formulate the obstacle and singularity avoidance as constraints, and will be incorporated in the standard Quadratic Programming (QP) method to resolve the IRK problem. This will avoid the compromise or conflict between weighted optimization criteria for the obstacle and singularity avoidance subgoals, as well as the complicated weight adjustment process. The OTMM is effective not only to redundant manipulators but also to nonredundant manipulators. Numerical simulation examples validate and prove the effectiveness of the proposed methods.