Developments of two new kinematic control algorithms for redundant manipulators
There are two common methods for kinematic control of redundant manipulators. One is based on the use of the pseudoinverse of manipulator Jacobian matrix and a so-called null space solution to optimize a secondary criterion. The other way is to expand the rectangular Jacobian matrix to a square one...
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| Format: | Thesis |
| Language: | English |
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2009
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| Online Access: | http://hdl.handle.net/10356/19762 |