Yahya, S. and Moghavvemi, M. and Mohamed, H.A.F. (2011) Redundant manipulators kinematics inversion. Scientific Research and Essays, 6 (26). pp. 5462-5470. ISSN 19922248, DOI https://doi.org/10.5897/SRE10.662.
Full text not available from this repository.Abstract
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. This paper reviews the well-known methods used to find the inverse kinematics of redundant manipulators. Because redundant manipulators have infinite solutions for their inverse kinematics, therefore the conventional method that was used to calculate the inverse kinematics of non-redundant manipulators cannot be used. The methods used to calculate the inverse kinematics of redundant manipulators are divided into three main categories in this paper: pseudoinverse, artificial intelligence and geometrical methods. These types have been explained, their advantages and disadvantages are also discussed in this paper.
| Item Type: | Article |
|---|---|
| Funders: | UNSPECIFIED |
| Uncontrolled Keywords: | Artificial intelligence; Geometrical method; Inverse kinematics; Pseudoinverse; Redundant manipulator |
| Subjects: | T Technology > TA Engineering (General). Civil engineering (General) |
| Divisions: | Faculty of Engineering |
| Depositing User: | Ms. Norhamizah Tamizi |
| Date Deposited: | 24 Mar 2014 08:08 |
| Last Modified: | 23 Nov 2017 03:24 |
| URI: | http://eprints.um.edu.my/id/eprint/9685 |
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