Haug, E.J., Adkins, F.A., Qiu, C.C. and Yen, J., 1995, "Analysis of barriers to control of manipulators within accessible output sets", Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, Vol. 82, pp. 697-704. Home/Search Document Details and Download
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Planning for Kinematically Smooth Manipulator Trajectories - Mi, Yang (2002) (Correct)
....a unified method for identifying control problems neither does it determine all barriers inside the workspace in closed form. A criterion to define possible motion (so called feasible trajectory) from a singularity was presented by Chevallereau and Daya [11] and Chevallereau [12] Haug et al. [13] presented a numerical algorithm for identifying and analyzing barriers to output control of manipulators using first and second order Taylor approximations of the output in selected directions. Haug and colleagues showed that the output velocity in the direction normal to such curves and ....
Haug, E.J., Adkins, F.A., Qiu, C.C. and Yen, J., 1995, "Analysis of barriers to control of manipulators within accessible output sets", Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, Vol. 82, pp. 697-704.
Interior and Exterior Boundaries to the Workspace of.. - Abdel-Malek, Yeh, al. (Correct)
....be generalized in the discussion that follows. It should be noted that although some barriers may occur in the workspace at which the surface does not admit motion, these barriers do not enclose a region, and therefore, do not form a void. These entities, however, may cause impediments to motion (Haug, et al. 1995) and exhibit control difficulties. 5 External boundary Gq( voids Figure 2 Boundary and void identification For a singular parametric entity fu R ( ii # 3 (where u is indeed a vector representing the remaining joint variables those not fixed) and in the field of differential ....
Haug, E. J. Adkins, F. A. Qiu, C. C. and Yen, J. 1995. Analysis of barriers to control of manipulators within accessible output sets. Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, 82:697-704.
Output Control Barriers Of Positioning Serial Manipulators - Abdel-Malek, Yang, Yeh (Correct)
....does not present a unified method for identifying control problems neither does it determine all barriers inside the workspace in closed form. Criteria to define possible motion (feasible trajectory) from a singularity was presented by Chevallereau and Daya (1994) and Chevallereau 2 (1996) Haug et al. 1995) presented a numerical algorithm for identifying barriers to output control of manipulators using first and second order Taylor approximations of the output in selected directions. Haug and colleagues showed that the output velocity in the direction normal to such curves and surfaces must be zero ....
Haug, E. J. Adkins, F. A. Qiu, C. C. and Yen, J., 1995, "Analysis of barriers to control of manipulators within accessible output sets", Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, Vol. 82, pp. 697-704.
Crossable Surfaces of Robotic Manipulators with Joint Limits - Abdel-Malek, Yeh (2000) (Correct)
....surface or curve, neither does it determine directions of admissible movement. Further work on the issue of singularity determination and the structure of singular regions inside the workspace was presented by Pai and Leu (1992) Burdick (1991; 1992) Karger (1995) and Merlet (1989) Recently, Haug, et al. 1995; 1996) presented a numerical algorithm for identifying and analyzing barriers to output control of manipulators using first and second order Taylor approximations of the output in selected directions. Haug, et al. showed that the output velocity in the direction normal to such curves and surfaces ....
Haug, E. J. Adkins, F. A. Qiu, C. C. and Yen, J. 1995. Analysis of barriers to control of manipulators within accessible output sets. Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, 82:697-704.
Path Trajectory Verification for Robot Manipulators in a.. - Abdel-Malek, Yeh (1997) (Correct)
No context found.
Haug, E. J. Adkins, F. A. Qiu, C. C. and Yen, J. 1995. Analysis of barriers to control of manipulators within accessible output sets. Proceedings of the 20th ASME Design Engineering Technical Conference, Boston, MA, 82:697-704.
Criteria for the Locality of a Manipulator Arm With Respect to.. - Abdelmalek (Correct)
No context found.
Haug, E.J., Adkins, F.A., Qiu, C.C., and Yen, J. Analysis of Barriers to Control of Manipulators Within Accessible Output Sets. Proceedings of the 20th Design Automation Conference, 1994, Minneapolis, MN.
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