基于零空间的奇异路径跟踪的一种范式评价

K. Tchoń
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引用次数: 7

摘要

在奇异机器人运动学的标准形式框架内,讨论了在基于零空间的路径跟踪算法中,对于非冗余和冗余运动学,通过奇异构型实现运动的可能性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A normal form appraisal of the null space-based singular path tracking
Within the framework of normal forms of singular robot kinematics, we discuss the possibility of achieving a motion through singular configurations in the null space-based path tracking algorithm, for both the non-redundant as well as redundant kinematics.
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