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Robot Manipulator Redundancy Resolution

By
Yunong Zhang
Yunong Zhang
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Long Jin
Long Jin
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ISBN:
9781119381235
No. of Pages:
318
Publisher:
ASME-Wiley
Publication date:
2017

Kinematic redundancy can be obtained when a robot manipulator possesses more DOF than the minimum number required to execute a given end-effector task. If a robot manipulator is redundant, the inverse-kinematics problem may admit infinite solutions. How to obtain the required optimal solution, that is, the redundancy resolution problem, is an appealing and significant topic in robotics areas. In the past, many redundancy resolution schemes have been presented, and they can be divided into two main categories; that is, globally optimal control of redundancy and local/instantaneously optimal control of redundancy. The globally optimal concept and method were originally suggested by...

7.1
Introduction
7.2
Preliminaries and Problem Formulation
7.3
Computer Simulations and Physical Experiments
7.4
Chapter Summary
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