Extended singular robust inverse solution of redundant serial manipulators
نویسندگان
چکیده
منابع مشابه
Inverse Kinematics of Functionally-Redundant Serial Manipulators: A Comparaison Study
Kinematic redundancy of a pair of manipulator-task can be classified into intrinsic and functional redundancies. This paper compares two different approaches to solve the inverse kinematics of functionally-redundant serial manipulators. First, the augmented approach add a virtual joint to the manipulator in order to render the Jacobian matrice underdetermined and project a secondary task onto t...
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ژورنال
عنوان ژورنال: Advances in Mechanical Engineering
سال: 2020
ISSN: 1687-8140,1687-8140
DOI: 10.1177/1687814020907731