An extension to operational space for kinematically redundant manipulators: Kinematics and dynamics

IEEE Transactions on Robotics and Automation

Volumn 16, Issue 5, 2000, Pages 592-596

  Chang, Pyung Hun ^a   Park, Ki Cheol ^a   Lee, Sukhan ^b  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Advanced Institute of Technology   (South Korea)

Author keywords

Dynamics; Kinematics; Null space; Operational space; Redundant manipulator; Statics

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DYNAMICS; END EFFECTORS; IDENTIFICATION (CONTROL SYSTEMS); KINEMATICS; MATRIX ALGEBRA; MOTION PLANNING; VECTORS;

EXTENSION TO OPERATIONAL SPACE; JACOBIAN MATRIX; NULL SPACE DYNAMICS; STATICS;

REDUNDANT MANIPULATORS;

EID: 0034290896     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.880809     Document Type: Article

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