Choi, Y Oh, Y Oh, SR Park, J Chung, WK 2024-01-21T07:04:50Z 2024-01-21T07:04:50Z 2021-09-02 2004-06 0169-1864 https://pubs.kist.re.kr/handle/201004/137568 Robotic manipulators can execute multiple tasks precisely at the same time and, thus, the task-priority scheme plays an important role in implementing multiple tasks. Until now, several algorithms for task-priority have been used in solving the inverse kinematics for redundant manipulators. In this paper, through the comparative study of existing algorithms, we will propose a new method for task-priority manipulation in terms of two important criteria-algorithmic singularity and task error. This manipulation scheme will be applied to a planar three-link manipulator to demonstrate its effectiveness. English TAYLOR & FRANCIS LTD REDUNDANT MANIPULATORS RESOLUTION Multiple tasks manipulation for a robotic manipulator Article 10.1163/1568553041257422 1 ADVANCED ROBOTICS, v.18, no.6, pp.637 - 653 ADVANCED ROBOTICS 18 6 637 653 scie scopus 000222920900004 2-s2.0-3142723221 Robotics Robotics Article REDUNDANT MANIPULATORS RESOLUTION task priority manipulation singularity redundancy