“General Solutions to Functional and Kinematic Redundancy”

Authors: Pål J. From and Jan T. Gravdahl,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 2, pp. 39-50.

Keywords: Robotics, Kinematics, Redundancy

Abstract: A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how it can be utilised to improve performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented.

PDF PDF (322 Kb)        DOI: 10.4173/mic.2008.2.1

DOI forward links to this article:
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  title={{General Solutions to Functional and Kinematic Redundancy}},
  author={From, Pål J. and Gravdahl, Jan T.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}