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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

Studies on and applications of a redundant robot manipulator are the topical research issues in the robotic community. In particular, the inverse-kinematics problem, which finds the joint motion for a given manipulator’s end-effector task is one of the important and challenging issues in operating the redundant manipulators. Note that there are an infinite number of joint configurations of a manipulator with respect to a specific task, due to the redundancy; and redundancy resolution is to make a suitable selection from the configurations. This kind of selection is usually used to accomplish some secondary tasks for robot manipulators or generate an...

12.1
Introduction
12.2
Scheme Formulation
12.3
Computer Simulations and Physical Experiments
12.4
Chapter Summary
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