On the structure of minimum effort solutions with application to kinematic redundancy resolution
نویسندگان
چکیده
منابع مشابه
On the structure of minimum effort solutions with application to kinematic redundancy resolution
There exist in robotics, as in many other disciplines, problems described by an underdetermined set of constraints, possessing an infinite number of solutions. The problem of robot manipulator redundancy resolution is just such a situation, requiring that a particular solution be chosen according to some type of optimization criterion. One possibility employs a type of optimization which minimi...
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Redundancy Resolution of Robot Manipulators Using Optimal Kinematic Control
Ab3tractGlobally optimal redundancy resolution in robot manipulators has been at t racted research interests and investigated with eager. Some researchers have attacked t h e redundancy resolution with optimization techniques and others with Pontryagin's principle. In this paper, as an another approach w e propose the optimal kinematic control. The formulation is: first to convert the redundanc...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2000
ISSN: 1042-296X
DOI: 10.1109/70.897797