Trajectory optimization for kinematically redundant arms

DOI10.1002/ROB.4620080206MaRDI QIDQ3204118zbMATH OpenOpenAlexFDO

Authors Craig R. Carignan

Publication date 1991

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

Full work available at URL https://doi.org/10.1002/rob.4620080206

zbMATH Keywords

extended Moore-Penrose techniquefour-link armjoint configurationsjoint limitslocal optimization methodsunderconstrained manipulation tasksworkspace singularity

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A local solution with global characteristics for the joint torque optimization of a redundant manipulator
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• scientific article; zbMATH DE number 3281211 (Why is no real title available?)

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(14)

• On-line trajectory resolution for two-armed systems with conflicting performance criteria
• An efficient local approach for the path generation of robot manipulators
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• Repetitive Control for Multi-Joint Arm Movements Based on Virtual Trajectories
• scientific article; zbMATH DE number 15828 (Why is no real title available?)
• Redundancy resolution through local optimization: A review
• scientific article; zbMATH DE number 1343271 (Why is no real title available?)
• scientific article; zbMATH DE number 1049500 (Why is no real title available?)
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• A fast approach for the robust trajectory planning of redunant robot manipulators
• Two‐arm kinematic posture optimization for fixtureless assembly
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• Evolutionary Trajectory Optimization for Redundant Robots

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