IEEE - Institute of Electrical and Electronics Engineers, Inc. - Resolution of robot redundancy in the Cartesian space by criteria optimization

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Mohamed, A.A. ; Chevallereau, C.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.291832
Regular:

A computationally efficient control law for a redundant robot in the Cartesian space is presented. This approach uses a decomposition of the joint acceleration into primary and secondary joint... View More

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