Exploiting redundancy in resolved motion control

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240536

C. Thiru-Arooran, G. Downton

引用次数: 0

Abstract

Direct tip velocity control of a general manipulator with redundant degrees of freedom with collision avoidance capabilities is presented and the modifications needed to implement it on real manipulators are described.<>

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利用冗余在分辨运动控制

提出了一种具有避碰能力的冗余自由度一般机械臂的直接尖端速度控制，并描述了在实际机械臂上实现该控制所需的改进。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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