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Subtask performance by redundancy resolution for redundant robot manipulators

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2 Author(s)
Walker, I.D. ; Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA ; Marcus, S.I.

The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 3 )