Article ID Journal Published Year Pages File Type
1863929 Physics Letters A 2009 4 Pages PDF
Abstract

The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels.

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Related Topics
Physical Sciences and Engineering Physics and Astronomy Physics and Astronomy (General)
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Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators
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