A solution to the velocity control of redundant robots

Flexible and dexterous manipulation of modern industrial applications requires the use of robots with extra (more than six) axes of motion (degrees of freedom). Thus the kinematic and control considerations of redundant robots are currently of increasing interest to both theorists and practitioners. For this type of robots, a closed-form solution of the inverse kinematic problem is not possible, and the classical approach is to use the pseudoinverse of the Jacobian matrix together with an extra criterion function.

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Year of publication:	1996
Authors:	Tzafestas, S. ; Zagorianos, A. ; Pimenides, T.
Published in:	Mathematics and Computers in Simulation (MATCOM). - Elsevier, ISSN 0378-4754. - Vol. 41.1996, 3, p. 201-208
Publisher:	Elsevier

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Type of publication:	Article
Source:	RePEc - Research Papers in Economics

Persistent link: https://ebvufind01.dmz1.zbw.eu/10010748816