Title :
Design of kinematically redundant mechanisms
Author_Institution :
Boston University, Boston, MA
Abstract :
It has been noted that obstacles in the workspace can effectively reduce the number of degrees of freedom of a robot mechanism. For a nonredundant mechanism this can result in reduced functionallity, but it need not be a problem when there are extra degrees of freedom. Indeed. it is possible to design motion planning algorithms which in the process of steering the manipulator away from obstacles also resolve the redundancy.
Keywords :
Aerodynamics; Aerospace control; Aerospace engineering; Algorithm design and analysis; Couplings; Design engineering; Fabrication; Manipulators; Process planning; Robots;
Conference_Titel :
Decision and Control, 1985 24th IEEE Conference on
Conference_Location :
Fort Lauderdale, FL, USA
DOI :
10.1109/CDC.1985.268464
