• DocumentCode
    3064012
  • Title

    Design of kinematically redundant mechanisms

  • Author

    Baillieul, J.

  • Author_Institution
    Boston University, Boston, MA
  • fYear
    1985
  • fDate
    11-13 Dec. 1985
  • Firstpage
    18
  • Lastpage
    21
  • Abstract
    It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed. it is possible to design motion planning algorithms which in the process of steering the manipulator away from obstacles also resolve the redundancy.
  • Keywords
    Aerodynamics; Aerospace control; Aerospace engineering; Algorithm design and analysis; Couplings; Design engineering; Fabrication; Manipulators; Process planning; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1985 24th IEEE Conference on
  • Conference_Location
    Fort Lauderdale, FL, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1985.268464
  • Filename
    4048228
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3064012