Virtual kinematic chains to solve the underwater vehicle-manipulator systems redundancy
نویسندگان
چکیده
منابع مشابه
Virtual Kinematic Chains to Solve the Underwater Vehicle - Manipulator Systems Redundancy
This paper addresses the kinematics of the Underwater Vehicle-Manipulator Systems (UVMSs). Due the adittional degrees of freedom (dofs) provided by the vehicle, such systems are kinematically redundant, i.e. they possess more dofs than those required to execute a given task, and need to be solved using some redundancy technique. We present an approach based on introducing kinematic constraints....
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ژورنال
عنوان ژورنال: Journal of the Brazilian Society of Mechanical Sciences and Engineering
سال: 2006
ISSN: 1678-5878
DOI: 10.1590/s1678-58782006000300014