Simulation of Robot Motions by Kinematic Configuration Control
作者： Stefan Alfs , Oleg Ivlev , Axel Graeser
DOI: 10.1016/S1474-6670(17)37989-2
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摘要: Abstract The kinematic configuration control technology bases on a new approach for redundancy resolution. allows to obtain closed-form solution of the inverse kinematics redundant robots with regular chains, as common nonredundant industrial robots. off-line evaluated functions need low on¬line computing power and allow perform local real-time robot motion in environments obstacles. Computer simulations motions resulting from are presented by example 7 DoF manipulator.
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