By Topic

Singular perturbations and the resolution of kinematic redundancy

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Martin, D.P. ; Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA ; Baillieul, J.

Necessary conditions for pathwise optimal resolution of redundancy in robot manipulation kinematics are given in terms of boundary value problems. The true optimal solution must be selected from a family of mutually nonhomotopic locally optimal solutions. By means of careful singular perturbation analysis, it is shown that homotopy continuation may be used to simplify the calculation of optimal trajectories

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991