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Jan 29, 2007 · Abstract: Resolved motion rate control of kinematically redundant manipulators using the simplest of the generalized inverses, ...
When J(q) is square and nonsingular, it can be inverted to yield the joint velocity in terms of the gripper configuration velocity, a tech- nique referred to as ...
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One method for solving inverse kinematics for redundant manipulators is proposed. This method is faster than the conventionally used method based on the Gauss- ...
Both the direct and the inverse kinematic problems are studied, and the essential difficulties due to the kinematic redundancy (global or/and local) and the ...
An inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, ...
The paper critically evaluates the utilisation of pseudo-inverse-based methods for the kineniatic inversion of hyper-redundant multi-link robot manipulators ...
Resolved motion rate control of kinematically redundant manipulators using the simplest of the generalized inverses, the {1}-inverse, is investigated. For the ...
Nov 29, 2024 · In this work, a general and efficient method for addressing the real-time optimized inverse kinematics of redundant robots is proposed, taking ...
In the proposed approach, called configuration control, the redundancy is utilized to configure the robot so as to satisfy a set of kinematic inequality ...
Oct 22, 2024 · The article presents a new algorithm for solving the inverse kinematics using the method of generalized inverse based on a modified Newton-Raphson iterative ...