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The kinematic r e d u " q ambles a row, to cliange its joint configuration xdhoot changing the pose of tlu: md-cn'ector or of the objcct. In addition to Uie rqiirt"it of pat11 tracking in Cartesian spce, many tasks require a iilar;ipulator to achieve more than one performance critaia or trrkt. into awount some manipulation constraints. In this ppcr, a brzq(More)
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