A real-time inverse kinematics solution based on joint perturbation for redundant manipulators
<p>Aiming at the problem that the calculation of the inverse kinematics solution of redundant manipulators is very time-consuming, this paper presents a real-time method based on joint perturbation and joint motion priority. The method first seeks the pose nearest to the target pose in the man...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2021-02-01
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| Series: | Mechanical Sciences |
| Online Access: | https://ms.copernicus.org/articles/12/221/2021/ms-12-221-2021.pdf |