Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

Cai, B; Zhang, Y

Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

Cai, B Zhang, Y

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Publisher:: Elsevier
Publication Type:: Journal Article
Citation:: Physics Letters A, 2009, 373 (38), pp. 3450 - 3453
Issue Date:: 2009-01

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Field	Value	Language
dc.contributor.author	Cai, B	en_US
dc.contributor.author	Zhang, Y	en_US
dc.date.issued	2009-01	en_US
dc.identifier.citation	Physics Letters A, 2009, 373 (38), pp. 3450 - 3453	en_US
dc.identifier.issn	0375-9601	en_US
dc.identifier.uri	http://hdl.handle.net/10453/14474
dc.description.abstract	The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels	en_US
dc.publisher	Elsevier	en_US
dc.relation.ispartof	Physics Letters A	en_US
dc.relation.isbasedon	10.1016/j.physleta.2009.07.045	en_US
dc.subject.classification	Fluids & Plasmas	en_US
dc.title	Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators	en_US
dc.type	Journal Article
utslib.citation.volume	38	en_US
utslib.citation.volume	373	en_US
utslib.for	0105 Mathematical Physics	en_US
utslib.for	01 Mathematical Sciences	en_US
utslib.for	02 Physical Sciences	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	closed_access
pubs.consider-herdc	false	en_US
pubs.issue	38	en_US
pubs.volume	373	en_US

Abstract:

The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels

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http://hdl.handle.net/10453/14474