A Novel Kinematic Directional Index for Industrial Serial Manipulators
نویسندگان
چکیده
منابع مشابه
Kinematic Inversion of Functionally-Redundant Serial Manipulators:
This paper introduces the concept of functional redundancy of serial manipulators, and presents a new resolution scheme to solve such redundant robotic tasks requiring less than six degrees-of-freedom. Instead of projecting the secondary task onto the null space of the Jacobian matrix in order to take advantage of the redundancy, the twist of endeffector is directly decomposes into two orthogon...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2020
ISSN: 2076-3417
DOI: 10.3390/app10175953