Closed form solutions applied to redundant serial link manipulators

Mathematics and Computers in Simulation

Volumn 41, Issue 5-6, 1996, Pages 509-516

  Kauschke, Michael ^a  

^a TECHNICAL UNIVERSITY OF BRAUNSCHWEIG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; INVERSE KINEMATICS; INVERSE PROBLEMS; MOTION CONTROL; OPTIMIZATION; PROBLEM SOLVING; REDUNDANCY;

CLOSED FORM SOLUTIONS; REDUNDANT SERIAL LINK MANIPULATORS;

MANIPULATORS;

EID: 0030216729     PISSN: 03784754     EISSN: None     Source Type: Journal    
DOI: 10.1016/0378-4754(95)00096-8     Document Type: Article

References (8)

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3. L.G. Herrera-Bendezu, E. Mu and J.T. Cain, Symbolic computation of robot manipulator kinematics, Proc. IEEE Internat. Conf. on Robotics and Automation (1988) 993-998.
4. M. Kauschke, A mixed numeric and symbolic approach to redundant manipulators, Solid Mechanics and its Applications, 28 (1993) 67-74.
5. Y. Nakamura, Advanced Robotics, Redundancy and Optimization (Addison-Wesley, Reading, MA, 1991).
6. R.P. Paul, Robot Manipulators: Mathematics, Programming, and Control (MIT Press, Cambridge, MA, 1981).
7. H. Rieseler and F.M. Wahl, Fast symbolic computation of the inverse kinematics of robots, Proc. IEEE Internat. Conf. on Robotics and Automation (1990) 462-467.
8. H. Schrake, Untersuchungen zur symbolischen Invertierung redundanter Roboterstrukturen, Master's Thesis, Technische Universität Braunschweig, Institut für Robotik und Prozeßinformatik, 1990.