Kinematic redundancy resolution for serial-parallel manipulators via local optimization including joint constraints

Mechanics Based Design of Structures and Machines

Volumn 34, Issue 2, 2006, Pages 213-239

  Cha, S H ^a   Lasky, T A ^a   Velinsky, S A ^a  

^a University of California   (United States)

Author keywords

Hybrid manipulator; Kinematic redundancy; Local optimization; Robotics

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; KINEMATICS; MANIPULATORS; OPTICAL RESOLVING POWER; OPTIMIZATION;

HYBRID MANIPULATOR; KINEMATIC REDUNDANCY; LOCAL OPTIMIZATION; SMOOTH TRANSITIONS;

ROBOTICS;

EID: 33745142573     PISSN: 15397734     EISSN: 15397742     Source Type: Journal    
DOI: 10.1080/15397730600778527     Document Type: Article

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