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Alternative computational scheme of manipulator inverse kinematics

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1 Author(s)
Lenarcic, J. ; Jozef Stefan Inst., Ljubljana Univ., Slovenia

The fundamental concept of the paper is to divide the inverse kinematics problem of a non-redundant robot manipulator into two sub-problems of different priorities, one associated with the position and one with the orientation of the end effector. We apply a standard weighted-pseudoinverse-based scheme which is normally utilised to resolve the inverse kinematics of a redundant manipulator. We show that the proposed approach is advantageous when the secondary task (orienting of the end effector) cannot entirely be executed

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

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