Kinematics of redundantly actuated closed chains
نویسندگان
چکیده
منابع مشابه
Kinematics of redundantly actuated closed chains
The instantaneous kinematics of a hybrid manipulation system, which combines the traditional serial chain geometry with parallelism in actuation, and the problem of coordination is discussed. The indeterminacy and singularities in the inverse kinematics and statics equations and measures of kinematic performance are analyzed. Finally, coordination algorithms that maintain an optimal force distr...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1990
ISSN: 1042-296X
DOI: 10.1109/70.54745