Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing

Kinematic redundancy may be an efficient way to improve the performance of parallel manipulators. Nevertheless, the inverse kinematic problem of this kind of manipulator presents infinite solutions. The selection of a single kinematic configuration among a set of many possible ones is denoted as red...

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Veröffentlicht in:	Journal of mechanisms and robotics 2017-08, Vol.9 (4)
Hauptverfasser:	Cavacanti Santos, João, Martins da Silva, Maíra
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science
Online-Zugang:	Volltext
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