New perspective on redundancy yields alternative control strategies. Self-motion manifolds introduced to characterization of self-motions of robotic manipulator having redundant degrees of freedom. Kinematics of robot reformulated via manifold mapping stressing global, rather than local, kinematic analysis. Approach useful in study of redundant manipulator kinematics. In addition, problem of resolution of redundancy posed equivalently as problem of control of self-motions, and self-motion manifolds useful in investigating, interpreting, and formulating both local and global techniques for resolution of redundancy.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Self-Motion Manifolds Of Redundant Manipulators


    Contributors:

    Published in:

    Publication date :

    1991-09-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


    A fractional approach for the motion planning of redundant and hyper-redundant manipulators

    Marcos, Maria da Graça / Machado, J. A. Tenreiro / Azevedo-Perdicoúlis, T. P. | BASE | 2011

    Free access

    An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

    Marcos, Maria da Graça / Machado, J. A. Tenreiro / Azevedo-Perdicoúlis, T. P. | BASE | 2010

    Free access

    On redundant flagged manipulators

    Alberich-Carramiñana, Maria / Thomas, Federico / Torras, Carme | BASE | 2006

    Free access


    An ANN Aproach for the Motion Planning of Redundant Manipulators

    Mayorga, R.V. / Aduthaya, T.C.N. / WSEAS (Organization) | British Library Conference Proceedings | 2013