A CLOSED SOLUTION TO THE INVERSE KINEMATICS OF REDUNDANT MANIPULATORS

被引：6
|
作者：
GALICKI, M
机构：
[1] Department of Applied Mathematics, Higher College of Engineering, Zielona Gora
来源：
MECHANISM AND MACHINE THEORY | 1991年 / 26卷 / 02期
关键词：
D O I：
10.1016/0094-114X(91)90085-I
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In the paper a solution of the inverse kinematics problem for redundant manipulators is presented. The method of solving the problem is based on employing a Frechet differential of a certain criterion function introduced to resolve the redundancy. The fully specified system of non-linear equations was determined by making use of the necessary condition of the extreme criterion function both for non-singular and singular configuration of manipulator. © 1991.
引用
收藏
页码：221 / 226
页数：6
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