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
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
收藏
页码:509 / 516
页数:8
相关论文
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