Kinematic control of redundant robots with guaranteed joint limit avoidance

Robotics and Autonomous Systems

Volumn 79, Issue , 2016, Pages 122-131

  Atawnih, Abdelrahem ^a   Papageorgiou, Dimitrios ^a,b   Doulgeri, Zoe ^a,b  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

^b INFORMATION TECHNOLOGIES INSTITUTE   (Greece)

Author keywords

Inverse kinematics; Joint limits; Redundant robots

Indexed keywords

INVERSE KINEMATICS; REDUNDANT MANIPULATORS;

DIFFERENTIAL KINEMATICS; GENERATED TRAJECTORIES; JOINT LIMIT AVOIDANCES; JOINT LIMITS; KINEMATIC CONTROL; KINEMATIC CONTROLLER; PRESCRIBED PERFORMANCE; REDUNDANT ROBOT;

KINEMATICS;

EID: 84959198911     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2016.01.006     Document Type: Article

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