Title :
A consistent approach to the instantaneous kinematics of redundant and non-redundant arms
Author :
Chen, Y.C. ; Tai, H.M.
Author_Institution :
Dept. of Mech. Eng., Tulsa Univ., OK, USA
Abstract :
Develops a new method for the instantaneous kinematics for redundant and non-redundant arms. The authors´ approach is based on an alternative formulation for the null space of the Jacobian of the arms. Several new properties and phenomenon for the arms are found using this new method
Keywords :
kinematics; manipulators; redundancy; Jacobian; instantaneous kinematics; nonredundant arms; redundant arms; space; Arm; Computational efficiency; Educational institutions; End effectors; Equations; Jacobian matrices; Kinematics; Matrix converters; Mechanical engineering; Null space;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339326
