Inverse kinematics of redundant manipulators with guaranteed performance
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
DOI: 10.1017/s026357472100045x
Abstract: Abstract In this paper, the inverse kinematics (IK) of redundant manipulators is presented and studied, where the performance of end-effector path planning is guaranteed. A new Jacobian pseudoinverse (JP)-based IK method is proposed and studied… read more here.
Keywords: performance; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords
Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3013879
Abstract: Redundant manipulators are usually required to perform tasks in the operational space, but collision-free path planning is computed in the configuration space. Limiting the deviation with respect to the collision-free configuration-space trajectory may allow the… read more here.
Keywords: manipulators dynamic; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords