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Inverse kinematic solutions for redundant manipulators using compact formulation.
Fan-Tien Cheng
Tsing-Hua Chen
York-Yih Sun
Published in:
IROS (1991)
Keyphrases
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inverse kinematics
optimal solution
degrees of freedom
database
alternative formulations
motion planning
robot manipulators
data sets
real time
integer programming
solution quality
closed form solutions
semidefinite programming
robot arm
solution space
end effector
optimization criteria