RECURSIVE FORMULATION FOR THE INVERSE KINEMATICS OF REDUNDANT ROBOTS PERFORMING TASKS WITH PRIORITY ORDER

被引：0

作者：

GARZIERA, R

机构：

[1] Department of Industrial Engineering, Parma University, Parma

来源：

JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 01期

关键词：

D O I：

10.1115/1.2919369

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A recursive arrangement is given for the inverse kinematic differential equations of redundant robots performing tasks with priority order. This formulation leads to simple and easy-to-handle equations, particularly suitable to be implemented in computer algorithms, for any number of sub-tasks. Moreover the recursive structure is extended to the solution at the acceleration level.

引用

页码：337 / 338

页数：2

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