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Review of pseudoinverse control for use with kinematically redundant manipulators
Abstract
Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.
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Citations
Cited by
A Dynamical Approach to Gestural Patterning in Speech Production
Saltzman, E. L., & Munhall, K. G. (1989) · Ecological Psychology · doi:10.1207/s15326969eco0104_2 · Cited by 946
Wampler, C. (1986) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1986.289285 · Cited by 850
Computations Underlying the Execution of Movement: A Biological Perspective
Bizzi, E., Mussa-Ivaldi, F. A., & Giszter, S. (1991) · Science · doi:10.1126/science.1857964 · Cited by 677
Robot Grasp Synthesis Algorithms: A Survey
Shimoga, K. B. (1996) · The International Journal of Robotics Research · doi:10.1177/027836499601500302 · Cited by 666
A modal approach to hyper-redundant manipulator kinematics
Chirikjian, G. S., & Burdick, J. W. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.294209 · Cited by 593
Metadata
- Authors
- Klein, C. A., & Huang, C.-H.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics
- Published
- 1983-03
- Volume
- SMC-13
- Issue
- 2
- Pages
- 245-250
- ISSN
- 0018-9472 (ISSN-L)
- 2168-2909
- OpenAlex
- W2129644801
- Cited by
- 1,118
- References
- 0
- FWCI
- 25.27
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Review of pseudoinverse control for use with kinematically redundant manipulators. https://app.cochat.ai/papers/10.1109/tsmc.1983.6313123
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- Klein, C. A., & Huang, C.-H. (1983). Review of pseudoinverse control for use with kinematically redundant manipulators. IEEE Transactions on Systems, Man, and Cybernetics. https://doi.org/10.1109/tsmc.1983.6313123
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