On The Computational Efficiency Of Four Numerical Techniques For Solving The Practical Inverse Kinematics Problem Of Redundant Manipulators

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On The Computational Efficiency Of Four Numerical Techniques For Solving The Practical Inverse Kinematics Problem Of Redundant Manipulators

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dc.contributor.author Abdel Rahman, T. M en_US
dc.date.accessioned 2009-11-25T13:02:43Z
dc.date.available 2009-11-25T13:02:43Z
dc.date.issued 1990 en_US
dc.identifier.citation Engineering Journal of Qatar University, 1990, Vol. 3, Pages 335-344. en_US
dc.identifier.uri http://hdl.handle.net/10576/7803
dc.description.abstract In this paper we compare the computational efficiency of four methods for solving the practical inverse kinematics problem of redundant manipulators. Two methods use recursive approaches for sequential determination of feasible joint rates while the other two methods derive complete joint rate solutions at first and then check the joint kinematical constraints. The methods were implemented on a 386 microcomputer. Issues of improving efficiency by changing velocity reference frames and workspace decomposition were examined. en_US
dc.language.iso en en_US
dc.publisher Qatar University en_US
dc.subject Computation Techniques en_US
dc.title On The Computational Efficiency Of Four Numerical Techniques For Solving The Practical Inverse Kinematics Problem Of Redundant Manipulators en_US
dc.type Article en_US
dc.identifier.pagination 335-344 en_US
dc.identifier.volume 3 en_US

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