Title

Suboptimal approximations in repeatable inverse kinematics for robot manipulators

Journal title

Bulletin of the Polish Academy of Sciences Technical Sciences

Yearbook

2017

Volume

65

Issue

No 2

Authors

I. Duleba ; I. Karcz-Duleba

Divisions of PAS

Nauki Techniczne

Coverage

209-217

Date

2017

Identifier

DOI: 10.1515/bpasts-2017-0025 ; ISSN 2300-1917

Source

Bulletin of the Polish Academy of Sciences: Technical Sciences; 2017; 65; No 2; 209-217

References

Ratajczak (2016), Trajectory reproduction and trajectory tracking problem for the nonholonomic systems Pol, Tech, 63. ; Roberts (1993), Repeatable generalized in verse control strategies for kinematically redundant manipula tors on Automatic Control, IEEE Trans, 38. ; Golub (1970), Singular value decomposition and least squares solutions, Numerische Mathematik, 14, 403, doi.org/10.1007/BF02163027 ; Klein (1995), Anewrformulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators Robot, IEEE Trans, 11.