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Distributed positioning for redundant robotic systems

Published online by Cambridge University Press:  09 March 2009

Veljko Potkonjak
Veljko Potkonjak
Affiliation:
Electrical Engineering Faculty, University of Belgrade, Bulevar Revollucije 73, 11000 Belgrade (Yugoslavia)
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Summary

A new approach to redundant robots is presented. The problem of the multiple solutions of the inverse kinematic is solved by making a special distribution of robot external motions to the redundant number of joint motions. The distribution is made in such a way to separate the smooth transport motion from the relative motion which could be fast and have high acceleration.

Keywords

Redundancyrobot systems
Type
Article
Information
Robotica , Volume 8 , Issue 1 , January 1990 , pp. 61 - 67
Copyright
Copyright © Cambridge University Press 1990

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References

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