General Solutions to Functional and Kinematic Redundancy

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , Other literature type 01 Jan 2007 English Publisher:Norwegian Society of Automatic ControlJournal:Modeling, Identification and Control: A Norwegian Research Bulletin, volume 29, pages 39-50 (issn: 0332-7353, eissn: 1890-1328,

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Authors: Pål Johan From; Jan Tommy Gravdahl;

doi: 10.4173/mic.2008.2.1 , 10.1109/cdc.2007.4434442

General Solutions to Functional and Kinematic Redundancy

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Abstract

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.

Related Organizations

Norwegian University of Science and Technology
Norway

Keywords

Kinematics, Electronic computers. Computer science, Robotics, QA75.5-76.95

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