NASA NTRS · 19940000341
Efficient Kinematic Computations For 7-DOF Manipulators
Abstract
Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).
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Seraji, Homayoun, Long, Mark K., Kreutz-Delgado, Kenneth. 1994-06-01. Efficient Kinematic Computations For 7-DOF Manipulators. https://ntrs.nasa.gov/citations/19940000341
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