Document Detail

Kinematic control of redundant robots and the motion optimizability measure.
MedLine Citation:
PMID:  18244778     Owner:  NLM     Status:  In-Data-Review    
This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.
L Li; W A Gruver; Q Zhang; Z Yang
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society     Volume:  31     ISSN:  1083-4419     ISO Abbreviation:  IEEE Trans Syst Man Cybern B Cybern     Publication Date:  2001  
Date Detail:
Created Date:  2008-02-04     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  9890044     Medline TA:  IEEE Trans Syst Man Cybern B Cybern     Country:  United States    
Other Details:
Languages:  eng     Pagination:  155-60     Citation Subset:  -    
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC.
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