Predicting the drift motion for kinematically redundant robots

DOI10.1109/21.156584zbMATH Open0778.70005OpenAlexW2166821224MaRDI QIDQ4024367FDOQ4024367

Shaheen Ahmad, Shengwu Luo

Publication date: 11 February 1993

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/21.156584

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zbMATH Keywords

Lyapunov stability analysiswork spacejoint spacerepeatability criteriacyclic pathnonrepeatabilitypseudoinverse control

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cited In (2)

• An improved trajectory planner for redundant manipulators in constrained workspace
• Repeatability of redundant manipulators: mathematical solution of the problem

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