A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy
A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved motion method. And is shown to be a general expression that yields the extend...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6425 |