Optimal Path Planning for redundant manipulators
Although a lot of tesearch effort has been expended in the last decade on the problem of motion planning for redundant robotic manipulators, none of the approaches reported previously offers a readily implementable solution. A redundant manipulator has degrees of fi*eedom in excess of its task space...
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ndltd-bl.uk-oai-ethos.bl.uk-4905362015-03-20T05:04:15ZOptimal Path Planning for redundant manipulatorsMcAvoy, Brendan2005Although a lot of tesearch effort has been expended in the last decade on the problem of motion planning for redundant robotic manipulators, none of the approaches reported previously offers a readily implementable solution. A redundant manipulator has degrees of fi*eedom in excess of its task space dimension, and therefore has a non-unique solution to the inverse position kinematics problem. For a specified end effector move, and efficient use of the excess degrees of freedom implies the choice of motion plan which also achieves desired secondary objectives, such as optimization of a specified objective function.629.892University of Salfordhttp://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.490536Electronic Thesis or Dissertation |
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629.892 McAvoy, Brendan Optimal Path Planning for redundant manipulators |
description |
Although a lot of tesearch effort has been expended in the last decade on the problem of motion planning for redundant robotic manipulators, none of the approaches reported previously offers a readily implementable solution. A redundant manipulator has degrees of fi*eedom in excess of its task space dimension, and therefore has a non-unique solution to the inverse position kinematics problem. For a specified end effector move, and efficient use of the excess degrees of freedom implies the choice of motion plan which also achieves desired secondary objectives, such as optimization of a specified objective function. |
author |
McAvoy, Brendan |
author_facet |
McAvoy, Brendan |
author_sort |
McAvoy, Brendan |
title |
Optimal Path Planning for redundant manipulators |
title_short |
Optimal Path Planning for redundant manipulators |
title_full |
Optimal Path Planning for redundant manipulators |
title_fullStr |
Optimal Path Planning for redundant manipulators |
title_full_unstemmed |
Optimal Path Planning for redundant manipulators |
title_sort |
optimal path planning for redundant manipulators |
publisher |
University of Salford |
publishDate |
2005 |
url |
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.490536 |
work_keys_str_mv |
AT mcavoybrendan optimalpathplanningforredundantmanipulators |
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