An Efficient Stochastic Constrained Path Planner for Redundant Manipulators
This brief proposes a novel stochastic method that exploits the particular kinematics of mechanisms with redundant actuation and a well-known manipulability measure to track the desired end-effector task-space motion in an efficient manner. Whilst closed-form optimal solutions to maximise manipulabi...
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| Autores principales: | , |
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| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
MDPI AG
2021
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| Materias: | |
| Acceso en línea: | https://doaj.org/article/00d753fd98d64984a6c12593634ebfc1 |
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