A solution to the velocity control of redundant robots

S. Tzafestas, A. Zagorianos and T. Pimenides

Mathematics and Computers in Simulation (MATCOM), 1996, vol. 41, issue 3, 201-208

Abstract: Flexible and dexterous manipulation of modern industrial applications requires the use of robots with extra (more than six) axes of motion (degrees of freedom). Thus the kinematic and control considerations of redundant robots are currently of increasing interest to both theorists and practitioners. For this type of robots, a closed-form solution of the inverse kinematic problem is not possible, and the classical approach is to use the pseudoinverse of the Jacobian matrix together with an extra criterion function.

Date: 1996
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/0378475495000704
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:41:y:1996:i:3:p:201-208

DOI: 10.1016/0378-4754(95)00070-4

Access Statistics for this article

Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens

More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier
Bibliographic data for series maintained by Catherine Liu ().