Multiple tasks manipulation for a robotic manipulator

Authors
Choi, YOh, YOh, SRPark, JChung, WK
Issue Date
2004-06
Publisher
TAYLOR & FRANCIS LTD
Citation
ADVANCED ROBOTICS, v.18, no.6, pp.637 - 653
Abstract
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.
Keywords
REDUNDANT MANIPULATORS; RESOLUTION; REDUNDANT MANIPULATORS; RESOLUTION; task priority; manipulation; singularity; redundancy
ISSN
0169-1864
URI
https://pubs.kist.re.kr/handle/201004/137568
DOI
10.1163/1568553041257422
Appears in Collections:
KIST Article > 2004
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