Optimizing the location of assembly tasks in a manipulator's workspace (Q3491088)

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Optimizing the location of assembly tasks in a manipulator's workspace
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    Optimizing the location of assembly tasks in a manipulator's workspace (English)
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    1990
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    Off-line programming of robotic workcells
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    gradient function of manipulability
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    manipulability function
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    modified method of the steepest descent optimization procedure
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    nonredundant manipulator
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