CSU Home
    • Login
    View Item 
    •   Mountain Scholar Home
    • Colorado State University, Fort Collins
    • CSU Departments and Programs
    • Department of Electrical and Computer Engineering
    • Faculty Publications - Department of Electrical and Computer Engineering
    • View Item
    •   Mountain Scholar Home
    • Colorado State University, Fort Collins
    • CSU Departments and Programs
    • Department of Electrical and Computer Engineering
    • Faculty Publications - Department of Electrical and Computer Engineering
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Repeatable generalized inverse control strategies for kinematically redundant manipulators

    Thumbnail
    Citable Link(s)
    http://hdl.handle.net/10217/617
    Download/View
    ECEaam00012.pdf (953.5Kb)
    View full record
    Altmetrics
    Abstract
    Kinematically redundant manipulators possess an infinite number of joint angle trajectories which satisfy a given desired end effector trajectory. The joint angle trajectories considered in this work are locally described by generalized inverses which satisfy the Jacobian equation relating the instantaneous joint angle velocities to the velocity of the end effector. One typically selects a solution from this set based on the local optimization of some desired physical property such as the minimization of the norm of the joint angle velocities, kinetic energy, etc. Unfortunately, this type of ...
    (For more, see "View full record.")
    Author(s)
    Maciejewski, Anthony A.; Roberts, Rodney G.

    Date Issued
    1993
    Format
    born digital; articles
    Collections
    • Faculty Publications - Department of Electrical and Computer Engineering

    DSpace software   copyright © 2002-2016   DuraSpace
    Contact Us | Send Feedback
    Registered Repository
    RE3 Certified
    HTML Sitemap  

     

    Browse

    All of Mountain ScholarCommunities & CollectionsDatesAuthorsTitlesSubjectsThis CollectionDatesAuthorsTitlesSubjects

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    DSpace software   copyright © 2002-2016   DuraSpace
    Contact Us | Send Feedback
    Registered Repository
    RE3 Certified
    HTML Sitemap