Kinematic chain

Singularity analysis of closed-loop kinematic chains

Clément Gosselin, Jorge Angeles

Citations: 1719 • 1990

A Global Performance Index for the Kinematic Optimization of Robotic Manipulators

Clément Gosselin, Jorge Angeles

Citations: 948 • 1991

Efficient Dynamic Computer Simulation of Robotic Mechanisms

Michael Walker, David E. Orin

Citations: 815 • 1982

The Calculation of Robot Dynamics Using Articulated-Body Inertias

Roy Featherstone

Citations: 577 • 1983

A Lie Group Formulation of Robot Dynamics

F. C. Park, J.E. Bobrow, Scott Ploen

Citations: 346 • 1995

New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs

Feng Gao, Weimin Li, Xianchao Zhao, Zhenlin Jin, Hui Zhao

Citations: 313 • 2002

Robotic manipulators and the product of exponentials formula

R. Brockett

Citations: 313 • 2005

Constrained Relations between Two Coordinated Industrial Robots for Motion Control

J.Y.S. Luh, Yuhan Zheng

Citations: 269 • 1987

Natural motion for robot arms

Dan Koditschek

Citations: 250 • 1984

Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains

David E. Orin, Se Young Oh

Citations: 220 • 1981

Local POE model for robot kinematic calibration

I‐Ming Chen, Guilin Yang, Chee Tat. Tan, Song Huat Yeo

Citations: 209 • 2001

A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm

Roy Featherstone

Citations: 202 • 1999

Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery

Jienan Ding, Roger E. Goldman, Kai Xu, Peter K. Allen, Dennis Fowler, Nabil Simaan

Citations: 198 • 2012

Kinematic Modeling and Analysis of Skid-Steered Mobile Robots With Applications to Low-Cost Inertial-Measurement-Unit-Based Motion Estimation

Jingang Yi, Hongpeng Wang, Junjie Zhang, Dezhen Song, Suhada Jayasuriya, Jingtai Liu

Citations: 196 • 2009

Kinematic modeling of Exechon parallel kinematic machine

Zhuming Bi, Yan Jin

Citations: 196 • 2010

Kinematic analysis of a Stewart platform manipulator

K. Liu, John M. Fitzgerald, Frank L. Lewis

Citations: 195 • 1993

Modeling, Identification & Control of Robots

Wisama Khalil, Etienne Dombre

Citations: 190 • 2001

Design of dynamic control of two cooperating robot arms: Closed chain formulation

T.J. Tarn, A.K. Bejczy, X. Yun

Citations: 188 • 2005

Randomized path planning for linkages with closed kinematic chains

J.H. Yakey, Steven M. LaValle, Lydia E. Kavraki

Citations: 181 • 2001

Kinematic Dexterity of Robotic Mechanisms

Frank C. Park, Roger W. Brockett

Citations: 180 • 1994