Title :
The design of an algorithm for the control of redundant kinematic chains
Author :
Miss, R.W. ; Schultheiss, G.F.
Author_Institution :
GKSS-Forschungszentrum Geesthacht GmbH, Inst. fuer Anlagentech., Geesthacht, Germany
Abstract :
The paper deals with the design of a simple pseudoinversion algorithm, which may be used for engineering applications in robot simulation and robot control. The method employed is based on artificial intelligence strategies.<>
Keywords :
artificial intelligence; inverse problems; kinematics; redundancy; robots; artificial intelligence strategies; control algorithm design; pseudoinversion algorithm; redundant kinematic chains; robot simulation; Algorithm design and analysis; Artificial intelligence; Closed-form solution; Design engineering; Equations; Jacobian matrices; Polynomials; Robot control; Robot kinematics; Vectors;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240437
