Kinematic optimization of redundant and hyper-redundant robot trajectories
Redundant manipulators have some advantages when compared with classical arms because they allow a trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type od manipulators, the proposed kinematic control algorithms adopts ge...
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| Format: | conferenceObject |
| Language: | eng |
| Published: |
1998
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| Online Access: | http://hdl.handle.net/10400.22/13566 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13566 |