Design of kinematically redundant mechanisms
- 1 December 1985
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed. it is possible to design motion planning algorithms which in the process of steering the manipulator away from obstacles also resolve the redundancy.Keywords
This publication has 3 references indexed in Scilit:
- Kinematic programming alternatives for redundant manipulatorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Redundancy resolution of manipulators through torque optimizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Manipulability and redundancy control of robotic mechanismsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005