An approach is presented for the resolution of the redundancy of a seven-axis manipulator arm from the AI and expert systems point of view. This approach is heuristic, analytical, and globally resolves the redundancy at the position level. When compared with other approaches, this approach has several improved performance capabilities, including singularity avoidance, repeatability, stability, and simplicity.


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    Title :

    Resolution of seven-axis manipulator redundancy: A heuristic issue


    Contributors:
    Chen, I. (author)


    Publication date :

    1990-05-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English





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