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Efficient method for the calculation of the pseudo inverse kinematic problem

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2 Author(s)
Chevallereau, C. ; Laboratoire d''Automatique de Nantes UA C.N.R.S., Cedex, France ; Khalil, W.

This paper presents an efficient algorithm for the solution of the pseudo inverse kinematic problem of robots. The given inverse kinematic calculationcan be usedatthe singular positions and for redundant robots. The presented method has the advantages of being explicit and that it reduces considerably the number of operations compared to the numerical methods.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987