Remarks on some dynamical problems of controlling redundant manipulators

DOI10.1109/9.50353zbMath0707.93047OpenAlexW2165558364MaRDI QIDQ3489884

T. Shamir

Publication date: 1990

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1109/9.50353

zbMATH Keywords

differential geometric structure``inverse kinematics methodsredundant robot arms

Mathematics Subject Classification ID

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

Related Items (3)

Calculation of repeatable control strategies for kinematically redundant manipulators ⋮ Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying ⋮ Controlling chaotic robots with kinematical redundancy

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