William S. Mckinney
Papers
2
Total Citations
5
H-Index
2
About
William S. McKinney’s research career is anchored in the kinematics and control of advanced robotic manipulators, with a particular focus on redundant-degree-of-freedom systems for space applications. His most cited work, “Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulation” (1989), addresses the control challenges of a seven-DOF robot arm delivered to NASA Langley Research Center for ground-based space operations research. This paper, with 3 citations, provides foundational resolved-rate control equations that enable precise manipulation in complex environments. McKinney also contributed to the design of singularity-avoiding wrist mechanisms in “Kinematics of Hooke universal joint robot wrists” (1988, 2 citations), proposing gimbal-style wrists using Hooke universal joints to overcome the limitations of conventional industrial manipulators. Though his citation counts are modest, his work directly supported early NASA telerobotics efforts and advanced the practical understanding of redundant manipulator control and wrist kinematics. McKinney’s research remains a reference for engineers exploring redundant robot arms and universal joint mechanisms in space and industrial robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2Kinematics of Hooke universal joint robot wrists2 citations · 1988