Multi-criteria position and configuration optimization for redundant platform/manipulator systems

@inproceedings{Pin1990MulticriteriaPA,
  title={Multi-criteria position and configuration optimization for redundant platform/manipulator systems},
  author={François G. Pin and Jean-Christophe Culioli},
  booktitle={IROS},
  year={1990}
}
An important characteristic of practical mobile manipulators, i.e., manipulators mounted on mobile platforms, is their particular kinematic redundancy created by the addition of the degrees of freedom of the platform to those of the manipulator. This pa.per is concerned with the resolution of this kinematic redundancy, and in particular with the local optimization of the position and configuration of the system during task commutations when changes occur in both task requirements and task… CONTINUE READING