Pose optimization of serial manipulators using knowledge of their velocity-degenerate (singular) configurations

Journal of Robotic Systems

Volumn 20, Issue 5, 2003, Pages 239-249

  Nokleby, Scott B ^a   Podhorodeski, Ron P ^a  

^a UNIVERSITY OF VICTORIA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; OPTIMIZATION; POSITION CONTROL; VELOCITY;

SERIAL MANIPULATORS; START-POINT ALGORITHM; VELOCITY-DEGENERATE CONFIGURATIONS;

REDUNDANT MANIPULATORS;

EID: 0037650084     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.10083     Document Type: Article

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