Dexterity optimization of kinematically redundant manipulators in the presence of joint failures

Manipulability of Robotic Mechanisms

Tsuneo Yoshikawa · The International Journal of Robotics Research · 1985 · 2.5K citations

Engineering, Mechanical Engineering, Robotics Engineering +14

Position control of manipulator with passive joints using dynamic coupling

Hirohiko Arai, Susumu Tachi · IEEE Transactions on Robotics and Automation · 1991 · 237 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Dynamic Manipulability of Robot Manipulators

Transactions of the Society of Instrument and Control Engineers · 1985 · 195 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +16

The Design of Isotropic Manipulator Architectures in the Presence of Redundancies

Jorge Angeles · The International Journal of Robotics Research · 1992 · 131 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Spatial Robotic Isotropy

Charles A. Klein, Todd A. Miklos · The International Journal of Robotics Research · 1991 · 70 citations

Engineering, Mechanical Engineering, Robotics Engineering +17