A trajectory planning algorithm for redundant manipulators

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of manipulators, several kinematic control algorithms adopt genera...

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Bibliographic Details
Main Author: Duarte, Fernando B. M. (author)
Other Authors: Tenreiro Machado, J. A. (author), Horváth, László (author)
Format: conferenceObject
Language:eng
Published: 1999
Subjects:
Redundant manipulators
Optimisation
Function approximation
Rational functions
Least squares approximations
Position control
Path planning
Online Access:http://hdl.handle.net/10400.22/13638
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13638

Internet

http://hdl.handle.net/10400.22/13638

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