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Global kinematics for manipulator planning and control

Burdick, Joel W. (1989) Global kinematics for manipulator planning and control. In: Twenty-Third Asilomar Conference on Signals, Systems and Computers, 1989. IEEE , Piscataway, NJ, pp. 1002-1007. ISBN 0-929029-30-1.

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This paper reviews one method of global kinematic analysis, based on a manifold mapping reformulation of manipulator kinematics, which is suitable for both non-redundant and redundant serial chain manipulators. Two applications of this approach are considered: the relationship between changing pose and singularities for non-redundant manipulators and the homotopy class of redundant manipulator self-motions. The first relationship has important implications for non-redundant, manipulator regrasping operations. Variations in redundant manipulator self-motion homotopy can have an important effect on motion and redundancy resolution planning, since they can lead to algorithmic singularities and unexpected loss of manipulator capabilities.

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Additional Information:© 1989 IEEE.
Record Number:CaltechAUTHORS:20170710-174553615
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Official Citation:J. W. Burdick, "Global kinematics for manipulator planning and control," Twenty-Third Asilomar Conference on Signals, Systems and Computers, 1989., Pacific Grove, California, USA, 1989, pp. 1002-1007. doi: 10.1109/ACSSC.1989.1201049
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:78918
Deposited On:11 Jul 2017 02:45
Last Modified:15 Nov 2021 17:44

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