General Solutions to Functional and Kinematic Redundancy

被引：1
|
作者：
From, Pal Johan [1 ]
Gravdahl, Jan Tommy [1 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway
来源：
MODELING IDENTIFICATION AND CONTROL | 2008年 / 29卷 / 02期
关键词：
Robotics; Kinematics; Redundancy;
D O I：
10.4173/mic.2008.2.1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how it can be utilised to improve performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented.
引用
收藏
页码：39 / 49
页数：11
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