Open document
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General information |
| Author |
Soto, Israel; Campa, Ricardo |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
A redundant robot has more degrees of
freedom (DOF) than those required to accomplish a
given motion task. This fact allows the possibility of
achieving an additional task, such as avoidance of joint
limits or singularities, besides the primary one.
Different criteria have been proposed in the literature
for the selection of such a secondary task. This paper
first recalls some of those criteria and then proposes a
two‐loop scheme for the motion control of redundant
robots. In order to validate the proposed scheme, some
experiments are carried out in a direct‐drive redundant
planar arm which has been designed and built in our
laboratory. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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