Wrist-partitioned inverse kinematic accelerations and manipulator dynamics
نویسندگان
چکیده
منابع مشابه
Generating Robust Trajectories in the Presence of Ordinary and Linear-Self-Motion Singularities
An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities. The resulting trajectories are close to minimum time, given an inverse kinematic solution for the path and bounds on joint velocities and accelerations. The algorithm has complexity O(M logM ), with respect to the number of joint coordinatesM , and works using...
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