Translating Dynamic Manipulability Polyhedron by Coupling with Velocity and Acceleration in Kinematically Redundant Manipulators
Author:
Affiliation:
1. National Institute of Technology, Wakayama College
Publisher
The Robotics Society of Japan
Link
https://www.jstage.jst.go.jp/article/jrsj/37/10/37_37_962/_pdf
Reference10 articles.
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2. 3) J.E. Bobrow, S. Dubowsky and J.S. Gibson: “Time-Optimal Control of Robotic Manipulators Along Specified Paths,” The International Journal of Robotics, vol.4, no.3, pp.3–17, 1985.
3. 4) M. Galicki: “Time-optimal controls of kinematically redundant manipulators with geometric constraints,” IEEE Transactions on Robotics and Automation, vol.16, iss.1, pp.89–93, 2000.
4. 5) S. Ma and M. Watanabe: “Time Optimal Path-Tracking Control of Kinematically Redundant Manipulators,” JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing, vol.47, no.2, pp.582–590, 2004.
5. 6) K.A. Khudir and A.D. Luca: “Faster Motion on Cartesian Paths Exploiting Robot Redundancy at the Acceleration Level,” IEEE Robotics and Automation Letters, vol.3, iss.4, pp.3553–3560, 2018.
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