Singularity-consistent kinematic redundancy resolution for the S-R-S manipulator.

Dragomir N. Nenchev Yuichi Tsumaki Mitsugu Takahashi

Published in: IROS (2004)

Keyphrases

degrees of freedom
inverse kinematics
parallel manipulator
end effector
low resolution
high resolution
joint space
computer controlled
robot manipulators
robot arm
motion planning
path planning
control system
higher resolution
position and orientation
dynamic model
feature selection