Weighted decomposition of kinematics and dynamics of kinematically redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 1996, Pages 480-486

  Park, Jonghoon ^a   Chung, WanKyun ^a   Youm, Youngil ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

FEEDBACK CONTROL; INVERSE KINEMATICS; MATRIX ALGEBRA; MOTION CONTROL; MOTION PLANNING; POSITION CONTROL; REDUNDANCY; UNIVERSAL JOINTS;

FEEDBACK MOTION CONTROLLER; JOINT SPACE DECOMPOSITION; KINEMATICALLY REDUNDANT MANIPULATORS; SYMMETRIC POSITIVE DEFINITE MATRIX; TASK MOTION; WEIGHTED DECOMPOSITION; WEIGHTED NULL MOTION SPACE;

MANIPULATORS;

EID: 0029710141     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)