Combined analytical-gradient-projection inverse kinematic solutions for simple redundant manipulators

One of the problem in real-time control of redundant manipulators is considerably increased computational complexity as compared with nonredundant robots. The paper attempts to reduce the computational complexity by combining the analytical and the gradient projection methods proposed by Dubey et al...

Ausführliche Beschreibung

Bibliographische Detailangaben

1. Verfasser:	Kircanski, M.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Computational complexity Jacobian matrices Kinematics Manipulators Microcomputers Optimal control Parallel robots Robot control Service robots Wrist
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