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Design of kinematically redundant mechanisms

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1 Author(s)
Baillieul, J. ; Boston University, Boston, MA

It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed. it is possible to design motion planning algorithms which in the process of steering the manipulator away from obstacles also resolve the redundancy.

Published in:

Decision and Control, 1985 24th IEEE Conference on  (Volume:24 )

Date of Conference:

Dec. 1985

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