Motion chaos in the pseudoinverse control of redundant robots
When a manipulator is redundant it is anticipated that the inverse kinematics admits an infinitive number of solutions. Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested throug...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
2000
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| Online Access: | http://hdl.handle.net/10400.22/13421 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13421 |