Redundant manipulators are currently receiving a considerable interest in the robotics research community. The extra (redundant) degree-of-freedom's (DOF's) in a structure which is redundant with respect to a given task can be used to obtain a more versatile configuration in terms of the interaction of the structure with the environment. Two approaches are commonly followed to control robotic manipulators. In this work it is shown how redundant manipulators, according to the above two approaches, are controlled.
Augmented task space approach for redundant manipulator control / L., Sciavicco; Siciliano, Bruno. - STAMPA. - (1989), pp. 125-129. (Intervento presentato al convegno 2nd IFAC Symposium on Robot Control tenutosi a Karlsruhe, Germany nel October).
Augmented task space approach for redundant manipulator control
SICILIANO, BRUNO
1989
Abstract
Redundant manipulators are currently receiving a considerable interest in the robotics research community. The extra (redundant) degree-of-freedom's (DOF's) in a structure which is redundant with respect to a given task can be used to obtain a more versatile configuration in terms of the interaction of the structure with the environment. Two approaches are commonly followed to control robotic manipulators. In this work it is shown how redundant manipulators, according to the above two approaches, are controlled.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
