Distributed positioning for redundant robotic systems
- 1 January 1990
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 8 (1) , 61-67
- https://doi.org/10.1017/s0263574700007323
Abstract
SUMMARY A new approach to redundant robots is presented. The problem of the multiple solutions of the inverse kinematic is solved by making a special distribution of robot external motions to the redundant number of joint motions. The distribution is made in such a way to separate the smooth transport motion from the relative motion which could be fast and have high acceleration.Keywords
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