{"title":"Subtask performance by redundancy resolution for redundant robot manipulators","authors":"I. Walker, S. Marcus","doi":"10.1109/56.795","DOIUrl":null,"url":null,"abstract":"The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"72","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.795","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 72
Abstract
The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered. >
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