A comparison of two methods for choosing repeatable control strategies for kinematically redundant manipulators

Abstract

A kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a specified task. Due to this additional freedom, control strategies may yield solutions which are not repeatable in the sense that the manipulator may not return to its initial joint conflguration for closed end… (More)
DOI: 10.1109/ROBOT.1992.220240

Cite this paper

@inproceedings{Roberts1992ACO, title={A comparison of two methods for choosing repeatable control strategies for kinematically redundant manipulators}, author={Rodney G. Roberts and Anthony A. Maciejewski}, booktitle={ICRA}, year={1992} }