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General Solutions to Functional and Kinematic Redundancy

By From Jan and Tommy Gravdahl


A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how it can be utilised to improve performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented.

Topics: Robotics, Kinematics, Redundancy
Year: 2013
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