Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling
Autor: | Joel W. Burdick, B.C. Cetin, J. Barhen |
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Rok vydání: | 2002 |
Předmět: | |
Zdroj: | ICRA |
Popis: | A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented. > |
Databáze: | OpenAIRE |
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