A. A. Maciejewski's Research Work in Motion Control for Kinematically Redundant Manipulators

Research Book Contributions:

  • PDF C. A. Klein and A. A. Maciejewski, "Simulators, Graphic," in the International Encyclopedia of Robotics: Applications and Automation, John Wiley and Sons, New York, pp. 1599-1608, 1988. (Also included in the Concise International Encyclopedia of Robotics: Applications and Automation, John Wiley and Sons, New York, pp. 923-929, 1990.)

  • PDF M. Girard and A. A. Maciejewski, "Computational modeling for the computer animation of legged figures," Seminal Graphics: Pioneering Efforts that Shaped the Field, ACM Press, pp. 255-262, 1998. (Reprinted from Computer Graphics, Vol. 19, No. 3, pp. 263-270, July 1985. Proceedings of the ACM SIGGRAPH conference. Conference item [1] below.)

    Serial Journal Articles:

  • PDF A. A. Maciejewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," International Journal of Robotics Research, Vol. 4, No. 3, pp. 109-117, Fall 1985.

  • PDF A. A. Maciejewski and C. A. Klein, "SAM: Animation software for simulating articulated motion," Computers and Graphics: An International Journal, Vol. 9, No. 4, pp. 383-391, 1985.

  • PDF A. A. Maciejewski and C. A. Klein, "Numerical filtering for the operation of robotic manipulators through kinematically singular configurations," Journal of Robotic Systems, Vol. 5, No. 6, pp. 527-552, December 1988.

  • PDF A. A. Maciejewski and C. A. Klein, "The singular value decomposition: Computation and applications to robotics," International Journal of Robotics Research, Vol. 8, No. 6, pp. 63-79, December 1989.

  • PDF A. A. Maciejewski, "Dealing with the ill-conditioned equations of motion for articulated figures," IEEE Computer Graphics and Applications, Vol. 10, No. 3, pp. 63-71, May 1990.

  • PDF A. A. Maciejewski, "Kinetic limitations on the use of redundancy in robotic manipulators," IEEE Transactions on Robotics and Automation, Vol. 7, No. 2, pp. 205-210, April 1991.

  • PDF A. A. Maciejewski and J. J. Fox, "Path planning and the topology of configuration space," IEEE Transactions on Robotics and Automation, Vol. 9, No. 4, pp. 444-456, August 1993.

  • PDF R. G. Roberts and A. A. Maciejewski, "Singularities, stable surfaces, and the repeatable behavior of kinematically redundant manipulators," International Journal of Robotics Research, Vol. 13, No. 1, pp. 70-81, February 1994.

  • PDF A. A. Maciejewski and J. M. Reagin, "A parallel algorithm and architecture for the control of kinematically redundant manipulators," IEEE Transactions on Robotics and Automation, vol. 10, No. 4, pp. 405-414, August 1994.

  • PDF Q. Xue, P. C-Y. Sheu, A. A. Maciejewski and S. Y. P. Chien, "Planning of collision-free paths for a reconfigurable dual manipulator equipped mobile robot," Journal of Intelligent and Robotic Systems , Vol. 17, No. 3, pp. 223-242, Nov. 1996.

  • PDF J. D. English and A. A. Maciejewski, "On the implementation of velocity control for kinematically redundant manipulators," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 30, No. 3, pp. 233-237, May 2000.

    Conference Proceedings and Presentations:

  • PDF M. Girard and A. A. Maciejewski, "Computational modeling for the computer animation of legged figures," Computer Graphics, Vol. 19, No. 3, pp. 263-270, July 1985. (Proceedings of the ACM SIGGRAPH conference.) Reprinted in Seminal Graphics: Pioneering Efforts that Shaped the Field, ACM Press, pp. 255-262, 1998.

  • A. A. Maciejewski, "The analysis of kinematically redundant manipulators through computer graphic simulation," in Proceedings Twentieth Annual Pittsburgh Conference on Modeling and Simulation, Vol. 20, Part 5, pp. 1799-1803, Pittsburgh, Pennsylvania, May 4-5, 1989.

  • PDF A. A. Maciejewski, "Kinetic limitations on the use of redundancy in robotic manipulators," in Proceedings 1989 IEEE International Conference on Robotics and Automation, pp. 113-118, Scottsdale, Arizona, May 14-19, 1989.

  • PDF A. A. Maciejewski, "Real-time SVD for the control of redundant robotic manipulators," in Proceedings 1989 IEEE International Conference on Systems Engineering, pp. 549-552, Dayton, Ohio, August 24-26, 1989.

  • A. A. Maciejewski and R. G. Roberts, "Utilizing kinematic redundancy in robotic systems: Practical implementations and fundamental limitations," in Proceedings 1990 American Control Conference, pp. 209-214, San Diego, California, May 23-25, 1990.

  • PDF C. L. Lewis and A. A. Maciejewski, "Trajectory generation for cooperating robots," in Proceedings 1990 IEEE International Conference on Systems Engineering, pp. 300-303, Pittsburgh, Pennsylvania, August 9-11, 1990.

  • PDF A. A. Maciejewski and J. M. Reagin, "A parallel algorithm and architecture for the control of kinematically redundant manipulators," in Proceedings 1992 IEEE International Conference on Robotics and Automation, pp. 488-493, Nice, France, May 10-15, 1992.

  • R. Ulrey, A. A. Maciejewski and H. J. Siegel, "Parallel algorithms for singular value decomposition," in Eighth International Parallel Processing Symposium, pp. 524-533, April 26-29, 1994.

  • PDF J. J. Fox and A. A. Maciejewski, "Utilizing the topology of configuration space in real-time multiple manipulator path planning," in IEEE/RSJ/GI International Conference on Intelligent Robots and Systems (IROS '94), pp. 665-672, Munchen, Germany, September 12-16, 1994.

  • PDF T. D. Braun, A. A. Maciejewski, and H. J. Siegel, "Parallel algorithms for singular value decomposition as applied to failure tolerant manipulators," 13th International Parallel Processing Symposium & 10th Symposium on Parallel and Distributed Processing (IPPS/SPDP '99), pp. 343-349, San Juan, Puerto Rico, April 12-16, 1999.

  • PDF R. Jamisola, A. A. Maciejewski, and R. G. Roberts, "Failure-Tolerant Path Planning for the PA-10 Robot Operating Amongst Obstacles," IEEE International Conference on Robotics and Automation, pp. 4995-5000, New Orleans, LA, April 26 - May 1, 2004.

  • PDF S. Hinton, R. C. Hoover, and A. A. Maciejewski, "An evaluation of visual interfaces for teleoperated control kinematically redundant manipulators" Nineteenth International Conference on Systems Engineering 2008 (ICSEng 2008), pp. 242-247, Las Vegas, NV, Aug. 19-21, 2008.


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    This document was last modified June 6, 2013.