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AuthorAbdel Rahman, T. M
Available date2009-11-25T13:02:43Z
Publication Date1990
Publication NameEngineering Journal of Qatar University
CitationEngineering Journal of Qatar University, 1990, Vol. 3, Pages 335-344.
URIhttp://hdl.handle.net/10576/7803
AbstractIn 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.
Languageen
PublisherQatar University
SubjectComputation Techniques
TitleOn The Computational Efficiency Of Four Numerical Techniques For Solving The Practical Inverse Kinematics Problem Of Redundant Manipulators
TypeArticle
Pagination335-344
Volume Number3


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