Pose Optimization of Serial Manipulators Using Knowledge of Their Velocity-Degenerate (Singular) Configurations

DOI10.1002/ROB.10083MaRDI QIDQ4452416zbMATH OpenOpenAlexFDO

Authors Scott B. Nokleby, Ron P. Podhorodeski

Publication date 12 February 2004

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.10083

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(1)

• On non-assembly in the optimal synthesis of serial manipulators performing prescribed tasks

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