An analytic-iterative redundancy resolution scheme for cable-driven redundant parallel manipulators

IEEE Transactions on Robotics

Volumn 27, Issue 6, 2011, Pages 1137-1143

  Taghirad, Hamid D ^a   Bedoustani, Yousef B ^a  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Analytic solution; motion control; parallel robots; redundancy resolution; redundant robots

Indexed keywords

ANALYTIC SOLUTION; CABLE-DRIVEN; CABLE-DRIVEN PARALLEL MANIPULATORS; CLOSED-LOOP; CONVEX OPTIMIZATION PROBLEMS; INEQUALITY CONSTRAINT; KARUSH-KUHN-TUCKER THEOREM; MANIPULATOR STRUCTURES; NUMERICAL OPTIMIZATIONS; OPTIMIZATION PROBLEMS; PARALLEL ROBOTS; REDUNDANCY RESOLUTION; REDUNDANT PARALLELS; REDUNDANT ROBOT; SEARCH ALGORITHMS; WORST CASE;

CABLES; CONSTRAINT THEORY; CONVEX OPTIMIZATION; MOTION CONTROL; NUMERICAL METHODS; OPTIMIZATION; REDUNDANT MANIPULATORS;

REDUNDANCY;

EID: 83555164810     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2163433     Document Type: Article

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