A simplified criterion for repeatability and its application in constraint path planning problems

A simplified criterion for repeatability and its application in constraint path planning problems

Compared to typical industrial manipulators, redundant manipulators offer more dexterity and flexibility because of their ability to reach points in their workspace in many different ways, e.g. they can perform self-motions which do not change the position of the TCP. As a consequence a given path i...

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Bibliographische Detailangaben
Hauptverfasser: Schaufler, R., Fedrowitz, C.H., Kammuller, R.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Data processing
Jacobian matrices
Kinematics
Path planning
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Beschreibung
Zusammenfassung:Compared to typical industrial manipulators, redundant manipulators offer more dexterity and flexibility because of their ability to reach points in their workspace in many different ways, e.g. they can perform self-motions which do not change the position of the TCP. As a consequence a given path in workspace x(t), t/sub 0/
DOI:10.1109/IROS.2000.895318