Analysis and control of redundant manipulator dynamics based on an extended operational space

Robotica

Volumn 19, Issue 6, 2001, Pages 649-662

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

^a SAMSUNG Electronics   (South Korea)

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

^c Samsung Advanced Institute of Technology (SAIT)   (South Korea)

Author keywords

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

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; END EFFECTORS; KINEMATICS; MOTION CONTROL; MOTION PLANNING; OPTIMIZATION; REDUNDANCY;

EXTENDED OPERATIONAL SPACE; NULL SPACE; OPERATIONAL SPACE; REAL-TIME CONTROL; STATICS;

REDUNDANT MANIPULATORS;

EID: 0035516541     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s0263574701003599     Document Type: Article

References (23)

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