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

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

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