A multi-objective approach for the motion planning of redundant manipulators
Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpred...
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| Other Authors: | , |
| Format: | article |
| Language: | eng |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10400.22/3793 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/3793 |