A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy

Please use this identifier to cite or link to this item: http://dspace.mediu.edu.my:8181/xmlui/handle/1721.1/6425

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DC Field	Value	Language
dc.creator	Chang, Pyung H.	-
dc.date	2004-10-04T14:55:56Z	-
dc.date	2004-10-04T14:55:56Z	-
dc.date	1986-03-01	-
dc.date.accessioned	2013-10-09T02:45:25Z	-
dc.date.available	2013-10-09T02:45:25Z	-
dc.date.issued	2013-10-09	-
dc.identifier	AIM-854	-
dc.identifier	http://hdl.handle.net/1721.1/6425	-
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721	-
dc.description	A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extended Jacobian method. The repeatability problem n the resolved motion method does not exist in the proposed equation. The equation is demonstrated to give more accurate trajectories than the resolved motion method.	-
dc.format	2808405 bytes	-
dc.format	2187317 bytes	-
dc.format	application/postscript	-
dc.format	application/pdf	-
dc.language	en_US	-
dc.relation	AIM-854	-
dc.title	A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy	-
Appears in Collections:	MIT Items

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