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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…
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Keywords:
performance;
redundant manipulators;
kinematics redundant;
inverse kinematics ... See more keywords
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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…
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Keywords:
manipulators dynamic;
redundant manipulators;
kinematics redundant;
inverse kinematics ... See more keywords