Different-Level Redundancy-Resolution And Its Equivalent Relationship Analysis For Robot Manipulators Using Gradient-Descent And Zhang Et Al.'S Neural-Dynamic Methods

Publisher:
IEEE-Inst Electrical Electronics Engineers Inc
Publication Type:
Journal Article
Citation:
Ieee Transactions On Industrial Electronics, 2012, 59 (8), pp. 3146 - 3155
Issue Date:
2012-01
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To solve the inverse kinematic problem of redundant robot manipulators, two redundancy-resolution schemes are investigated: one is resolved at joint-velocity level, and the other is resolved at joint-acceleration level. Both schemes are reformulated as a
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