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Singular perturbations and the resolution of kinematic redundancy

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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