Closed form solutions applied to redundant serial link manipulators

被引：7

作者：

Kauschke, M

机构：

[1] Inst. for Robotics and Comp. Control, Technical University of Braunschweig

来源：

MATHEMATICS AND COMPUTERS IN SIMULATION | 1996年 / 41卷 / 5-6期

关键词：

D O I：

10.1016/0378-4754(95)00096-8

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presets an efficient local optimization scheme for redundant serial link manipulators with low degree of redundancy and a complex optimization task. This is done by reducing the degree of the joints space by the number of link variables solved by a closed form solution of the inverse kinematics for nonredundant substructures. The optimization problem is solved locally by an algorithm which does not require differentiable task functions.

引用

页码：509 / 516

页数：8

共 8 条

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[2]

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[3]

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[4]

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[5]

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[6]

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[7]

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[8]

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