A discrete kinematic model of robots in the Cartesian space

A mathematical model is presented of kinematics of a redundant planar manipulator that is able to determine the next configuration on the basis of the preceding one and the required shift of the end-effector. The new configuration is synthesized by the following scheme: synthesis of a hypothetical configuration, verification of its technical realizability, and modification. The introduction of parameters into the model allows configurations that meet diverse criteria to be obtained. An application of the model in a robot motion planer is presented.<
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