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2004

Multiple tasks manipulation for a robotic manipulator

8 years 11 months ago
Multiple tasks manipulation for a robotic manipulator
Robotic manipulators can execute multiple tasks precisely at the same time and, thus, the task-priority scheme plays an important role in implementing multiple tasks. Until now, several algorithms for task-priority have been used in solving the inverse kinematics for redundant manipulators. In this paper, through the comparative study of existing algorithms, we will propose a new method for task-priority manipulation in terms of two important criteria -- algorithmic singularity and task error. This manipulation scheme will be applied to a planar three-link manipulator to demonstrate its effectiveness.
Youngjin Choi, Yonghwan Oh, Sang-Rok Oh, Jonghoon
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2004
Where AR
Authors Youngjin Choi, Yonghwan Oh, Sang-Rok Oh, Jonghoon Park, Wan Kyun Chung
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