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Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators

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4 Author(s)
Jonghoon Park ; Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea ; Youngjin Choi ; Wan Kyun Chung ; Youngil Youm

This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property same as those conventional task priority based methods. In order to deal with general situations of task specification, the so-called semi-definitely weighted pseudo-inverse is devised.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001