Obstacle Avoidance in Operational Configuration Space Kinematic Control of Redundant Serial Manipulators
Kinematic control of redundant serial manipulators has been carried out for the past half century based primarily on a generalized inverse velocity formulation that is known to have mathematical deficiencies. A recently developed inverse kinematic configuration mapping is employed in an operational...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/12/1/10 |