Torque optimization schemes for kinematically redundant manipulators

DOI10.1002/ROB.4620110403MaRDI QIDQ4302691zbMATH OpenOpenAlexFDO

Authors Tsing-Hua Chen, Fan-Tien Cheng, Min-Hsiung Hung, York Y. Sun

Publication date 21 August 1994

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

Full work available at URL https://doi.org/10.1002/rob.4620110403

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cites work

• Resolved-acceleration control of mechanical manipulators

Cited in

(4)

• Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
• A new family of constrained redundant parallel manipulators
• Bi-criteria optimal control of redundant robot manipulators using LVI-based primal-dual neural network
• Two/infinity norm criteria resolution of manipulator redundancy at joint-acceleration level using primal-dual neural network

Describes a project that uses

Uses Software

• Optimization Toolbox
• Matlab

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