IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robotic system performance enhancement through redundant design

Proceedings of 36th Midwest Symposium on Circuits and Systems

Author(s): Chan, J.W. ; You-Liang Gu
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Detroit, MI, USA
Conference Date: 16 August 1993
ISBN (Paper): 0-7803-1760-2
DOI: 10.1109/MWSCAS.1993.343025
Regular:

A redundant manipulator possesses an infinite number of solutions to the inverse kinematics. The difference between any two solutions is always mapped by the Jacobian matrix to the zero vector of... View More

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