Closed form solutions applied to redundant serial link manipulators

Michael Kauschke

Mathematics and Computers in Simulation (MATCOM), 1996, vol. 41, issue 5, 509-516

Abstract: This paper presets an efficient local optimization scheme for redundant serial link manipulators with low degree of redundancy and a complex optimization task. This is done by reducing the degree of the joints space by the number of link variables solved by a closed form solution of the inverse kinematics for nonredundant substructures. The optimization problem is solved locally by an algorithm which does not require differentiable task functions.

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

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/0378475495000968
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:5:p:509-516

DOI: 10.1016/0378-4754(95)00096-8

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 ().