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Robot Manipulator Redundancy Resolution
ISBN:
9781119381235
No. of Pages:
318
Publisher:
ASME-Wiley
Publication date:
2017
eBook Chapter
7 Feedback-Aided Minimum Joint Motion
Page Count:
26
-
Published: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
7.2Preliminaries and Problem Formulation
7.3Computer Simulations and Physical Experiments
7.4Chapter Summary
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