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A solution algorithm to the inverse kinematic problem for redundant manipulators

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2 Author(s)
Sciavicco, L. ; Dept. of Inf. & Syst., Naples Univ., Italy ; Siciliano, B.

Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved. The kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm which only makes use of the direct kinematics of the manipulator. Simulation results illustrate the tracking performance for a given trajectory in the Cartesian space, while guaranteeing a collision-free trajectory and/or not violating a mechanical joint limit

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 4 )