Carregant...
Carregant...

Vés al contingut (premeu Retorn)

A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis

Autor
Zaplana, I.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2018-03-01
Volum
121
Pàgina inicial
829
Pàgina final
843
DOI
https://doi.org/10.1016/j.mechmachtheory.2017.12.005 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/113873 Obrir en finestra nova
URL
http://www.sciencedirect.com/science/article/pii/S0094114X17307802?via%3Dihub Obrir en finestra nova
Resum
© 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form techniques have been developed so far. In this paper, redundant manipulators are reduced to non-redundant ones by selecting a set of joints, denoted redundant joints, and parametrizing its joint variables. This selection is made through a workspace analysis which also provi...
Citació
Zaplana, I., Basañez, L. A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis. "Mechanism and machine theory", 1 Març 2018, vol. 121, p. 829-843.
Paraules clau
Inverse kinematics, redundant manipulators, robotics, workspace analysis
Grup de recerca
SIR - Service and Industrial Robotics

Participants