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Singularity-Robust Inverse Kinematics for Serial Manipulators Cover

Singularity-Robust Inverse Kinematics for Serial Manipulators

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 17 (2023): Issue 3 (September 2023)
By: Ignacy Dulęba  
Open Access
|Mar 2024

Authors

Ignacy Dulęba

ignacy.duleba@pwr.edu.pl

Department of Cybernetics and Robotics, Wroclaw University of Science and Technology, Wroclaw, Poland
DOI: https://doi.org/10.14313/jamris/3-2023/21 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 38 - 45
Submitted on: Dec 4, 2022
|
Accepted on: Apr 21, 2023
|
Published on: Mar 4, 2024
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
Serial manipulator,
Forward kinematics,
Jacobi matrix,
Inverse kinematics,
Singularities,
Robustness,
Evaluation
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2024 Ignacy Dulęba, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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