A linear optimization approach to inverse kinematics of redundant robots with respect to manipulability

ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction

Volumn , Issue , 2008, Pages 175-180

  Lalo, Wildan ^a   Brandt, Thorsten ^a   Schramm, Dieter ^a   Hiller, Manfred ^a  

^a UNIVERSITY OF DUISBURG ESSEN   (Germany)

Author keywords

Inverse kinematics; Linear programming; Manipulability; Manipulator; Redundancy

Indexed keywords

CONSTRAINT THEORY; INVERSE KINEMATICS; LINEAR PROGRAMMING; MANIPULATORS; REDUNDANCY; REDUNDANT MANIPULATORS; ROBOT PROGRAMMING; ROBOTICS;

INTERIOR-POINT METHOD; KINEMATIC REDUNDANCY; KINEMATICALLY REDUNDANT MANIPULATORS; LINEAR INEQUALITY CONSTRAINTS; LINEAR OPTIMIZATION; MANIPULABILITY; TECHNICAL APPLICATIONS; TECHNICAL CONSTRAINTS;

INVERSE PROBLEMS;

EID: 84862993001     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3846/isarc.20080626.175     Document Type: Conference Paper

References (6)

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3. Komainda, A. (2003), Methoden und Verfahren zur Online-Bahnplanung redundanter Schwerlastmanipulatoren, Fortschritt-Berichte VDI, Reihe 8, Nr. 993
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6. st. Int. Symp. Robotics Res. Bretton Woods, N. H.