Practical approaches to handle the singularities of a wrist-partitioned space manipulator

Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

Yoshihiko Nakamura, Hideo Hanafusa · Journal of Dynamic Systems Measurement and Control · 1986 · 1.1K citations

Engineering, Mechanical Engineering, Robotics Engineering +13

Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

Charles W. Wampler · IEEE Transactions on Systems Man and Cybernetics · 1986 · 830 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Resolved motion rate control of space manipulators with generalized Jacobian matrix

Yoji Umetani, Kazuya Yoshida · IEEE Transactions on Robotics and Automation · 1989 · 608 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +17

Nonholonomic path planning of space robots via bi-directional approach

Yoshihiko Nakamura, Ranjan Mukherjee · 2002 · 315 citations

Computing, Mechanical Engineering, Robotics Engineering +16

Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator

S. Chiaverini, Bruno Siciliano, Olav Egeland · IEEE Transactions on Control Systems Technology · 1994 · 300 citations

Engineering, Mechanical Engineering, Robotics Engineering +17