Efficient prioritized inverse kinematic solutions for redundant manipulators


In this paper, we explore preprocessing techniques aimed at efficiently mapping the workspace to the configuration space for redundant manipulators. Exploiting the increasing availability of memory we precompute a database for online use that allows fast querying of joint configurations with high manipulability. Such a system is useful for performing… (More)
DOI: 10.1109/IROS.2005.1545255


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@article{Guilamo2005EfficientPI, title={Efficient prioritized inverse kinematic solutions for redundant manipulators}, author={Luis Guilamo and James J. Kuffner and Koichi Nishiwaki and Satoshi Kagami}, journal={2005 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2005}, pages={3921-3926} }