A Novel Approach for a Inverse Kinematics Solution of a Redundant Manipulator

A Novel Approach for a Inverse Kinematics Solution of a Redundant Manipulator

Kinematically-redundant manipulators present considerable difficulties, especially from the view of control. A high number of degrees of freedom are used to control so-called secondary tasks in order to optimize manipulator motion. This paper introduces a new algorithm for the control of kinematical...

Full description

Bibliographic Details
Main Authors: Michal Kelemen, Ivan Virgala, Tomáš Lipták, Ľubica Miková, Filip Filakovský, Vladimír Bulej
Format: Article
Language:English
Published: MDPI AG 2018-11-01
Series:Applied Sciences
Subjects:
computing time
inverse kinematics
joint limit avoidance
kinematic singularity
manipulator
obstacle avoidance
potential field
Online Access:https://www.mdpi.com/2076-3417/8/11/2229

Internet

https://www.mdpi.com/2076-3417/8/11/2229

Similar Items