Referenced Items are not available for this document.
Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm which only makes use of the direct kinematics of the manipulator. Simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical joint limit
Published in:
Robotics and Automation, IEEE Journal of
(Volume:4
,
Issue:
4
)
Date of Publication: Aug 1988
- Page(s):
- 403 - 410
- ISSN :
- 0882-4967
- INSPEC Accession Number:
- 3222952
- Digital Object Identifier :
- 10.1109/56.804
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Aug 1988
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
