Decomposible closed-form inverse kinematics for reconfigurable robots using product-of-exponentials formula

A systematic inverse kinematics decomposition process is proposed.

Bibliographic Details
Main Author:	Gao, Yan
Other Authors:	Chen, I-Ming
Format:	Thesis
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	http://hdl.handle.net/10356/5732

Internet

http://hdl.handle.net/10356/5732