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On dynamical decoupling of kinematically redundant manipulators

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3 Author(s)
Jonghoon Park ; Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea ; Wankyun Chung ; Youngil Youm

The kinematically decoupled joint space decomposition is proposed as a general coordinate transformation between the joint space and the task space of kinematically redundant manipulators. The method can describe the kinematic, force, and dynamic redundancy in a unified way using a minimal number of systematic motion variables. Based on the method, a set of equivalent dynamical models of redundant manipulators is constructed and its characteristics are studied focusing on the dynamical decoupling between the task and the null motion dynamics

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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