Optimization with joint space reduction and extension induced by kinematic limits for redundant manipulators

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2002, Pages 2412-2417

  Ahn, Kyung Ho ^a   Chung, Wan Kyun ^b  

^a Korea Aerospace Industries Inc   (South Korea)

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

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; KINEMATICS; NUMERICAL METHODS; OPTIMIZATION; UNIVERSAL JOINTS; VECTORS;

EXTENDED JACOBIAN METHOD; HUMANOID ROBOTS; JOINT SPACE REDUCTION;

REDUNDANT MANIPULATORS;

EID: 0036059476     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2002.1013593     Document Type: Article

References (5)

1. Kinematic programming alternatives for redundant manipulators
2. Avoiding obstacles and resolving kinematic redundancy
3. Characteristics of optimal solutions in kinematic resolutions of redundancy