DocumentCode
3338305
Title
The design of an algorithm for the control of redundant kinematic chains
Author
Miss, R.W. ; Schultheiss, G.F.
Author_Institution
GKSS-Forschungszentrum Geesthacht GmbH, Inst. fuer Anlagentech., Geesthacht, Germany
fYear
1991
fDate
19-22 June 1991
Firstpage
1433
Abstract
The paper deals with the design of a simple pseudoinversion algorithm, which may be used for engineering applications in robot simulation and robot control. The method employed is based on artificial intelligence strategies.<>
Keywords
artificial intelligence; inverse problems; kinematics; redundancy; robots; artificial intelligence strategies; control algorithm design; pseudoinversion algorithm; redundant kinematic chains; robot simulation; Algorithm design and analysis; Artificial intelligence; Closed-form solution; Design engineering; Equations; Jacobian matrices; Polynomials; Robot control; Robot kinematics; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240437
Filename
240437
Link To Document