A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method
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DOI: 10.1007/s12206-018-0240-7
Abstract: A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular position limits of the original clamping weighted least-norm method is ascribable to the… read more here.
Keywords: weighted least; clamping weighted; joint angular; avoiding joint ... See more keywords