contributor author | R. P. Podhorodeski | |
contributor author | A. A. Goldenberg | |
contributor author | R. G. Fenton | |
date accessioned | 2017-05-08T23:42:05Z | |
date available | 2017-05-08T23:42:05Z | |
date copyright | September, 1993 | |
date issued | 1993 | |
identifier issn | 1050-0472 | |
identifier other | JMDEDB-27607#530_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/112370 | |
description abstract | In this paper, an approach for solving the inverse kinematics (velocity) problem for redundant open-chain manipulators is addressed. The solution is based upon finding a particular joint rate solution and identifying a joint velocity null-space basis through a decomposition of screw coordinates representing the joint axes. Optimal joint rate solutions are formulated in terms of the joint null-space basis. A specification of computational costs for numerical application is presented. The method is shown to be useful for analytical application through example derivations for two 7 revolute jointed manipulators and a platform mounted nonredundant manipulator. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | A Null-Space Solution of the Inverse Kinematics of Redundant Manipulators Based on a Decomposition of Screws | |
type | Journal Paper | |
journal volume | 115 | |
journal issue | 3 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.2919222 | |
journal fristpage | 530 | |
journal lastpage | 539 | |
identifier eissn | 1528-9001 | |
keywords | Kinematics | |
keywords | Screws AND Redundant manipulators | |
tree | Journal of Mechanical Design:;1993:;volume( 115 ):;issue: 003 | |
contenttype | Fulltext | |