A singularities prevention approach for redundant robot manipulators.

René V. Mayorga Andrew K. C. Wong

Published in: ICRA (1990)

Keyphrases

robot manipulators
inverse kinematics
control of robot manipulators
control scheme
trajectory planning
end effector
dynamic model
sliding mode
real time
learning algorithm
data mining
knowledge base
closed loop
fuzzy neural network
control law