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An alternative method for minimization of the driving forces in redundant manipulators

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2 Author(s)
Kazerounian, K. ; The University of Connecticut, Storrs, CT ; Nedungadi, A.

A discretized equation allows the acceleration terms to be changed to velocity terms in the definition of joint driving forces in robotic manipulators. An eleven degrees of freedom, three dimensional robotic manipulator is used in a numerical example to test the developed algorithm. Numerical and algorithmic stabilities are also discussed.

Published in:

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

Date of Conference:

Mar 1987