Multiple tasks manipulation for a robotic manipulator
- Authors
- Choi, Y; Oh, Y; Oh, SR; Park, J; Chung, 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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