Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints

DOI10.4310/CIS.2004.V4.N1.A1zbMath1087.68671MaRDI QIDQ817378

N. E. Zubov

Publication date: 16 March 2006

Published in: Communications in Information and Systems (Search for Journal in Brave)

Full work available at URL: https://projecteuclid.org/euclid.cis/1119639953

zbMATH Keywords

redundancy resolutionconstraint manifold

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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