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On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds
Abstract
The author takes a global rather than instantaneous look at the inverse kinematics of redundant manipulators. This approach is based on a manifold mapping reformulation of manipulator kinematics. While the kinematic problem has an infinite number of solutions for redundant manipulators, the infinity of solutions can be grouped into a finite and bounded set of disjoint continuous manifolds. Each of these manifolds, termed self-motion manifolds, physically corresponds to a distinct self-motion of the manipulator, and the number, geometry, and characterizations of the self-motion manifolds are investigated.>
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Citations
Cited by
Task Space Regions: A framework for pose-constrained manipulation planning
Berenson, D., Srinivasa, S., & Kuffner, J. (2011) · The International Journal of Robotics Research · doi:10.1177/0278364910396389 · Cited by 368
WHOLE-BODY DYNAMIC BEHAVIOR AND CONTROL OF HUMAN-LIKE ROBOTS
KHATIB, O., SENTIS, L., PARK, J., & WARREN, J. (2004) · International Journal of Humanoid Robotics · doi:10.1142/s0219843604000058 · Cited by 293
Differential analysis of bifurcations and isolated singularities for robots and mechanisms
Kieffer, J. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.285580 · Cited by 101
Metadata
- Authors
- Burdick, J. W.
- Venue
- Proceedings, 1989 International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-07
- Pages
- 264-270
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2110333200
- Cited by
- 235
- References
- 0
- FWCI
- 15.30
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Burdick, J. W. (2003). On the inverse kinematics of redundant manipulators: characterization of the self-motion manifolds. Proceedings, 1989 International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1989.99999
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