Kinematic Control of Redundant Robot Manipulators¶
Siciliano, B. (1990). Kinematic Control of Redundant Robot Manipulators: A Tutorial. Journal of Intelligent and Robotic Systems, 201-212.
Cited by¶
1 citation across 1 artifact.
Each citation links to the sentence it supports in the citing article.
Mechanisms¶
- Additional Kinematic Axis
- The mechanism earns its cost when a pose is blocked because the chain is kinematically redundant-deficient — it has too few independent directions to satisfy position and orientation together while avoiding its surroundings
This sourceReviews use of kinematic redundancy to satisfy additional constraint tasks such as obstacle avoidance.
- The mechanism earns its cost when a pose is blocked because the chain is kinematically redundant-deficient — it has too few independent directions to satisfy position and orientation together while avoiding its surroundings
Verification¶
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Does it back the claim? Not recorded. The single citation of this work carries no recorded support check.
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Registry ID ref:67ac4da151b9 · see in the full table