Kinematic control of redundant robot manipulators: A tutorial
نویسنده
چکیده
In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator+s Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions.
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ورودعنوان ژورنال:
- Journal of Intelligent and Robotic Systems
دوره 3 شماره
صفحات -
تاریخ انتشار 1990