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

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Author Abdel Rahman, T. M en_US
Available date 2009-11-25T13:02:43Z en_US
Publication Date 1990 en_US
Citation Engineering Journal of Qatar University, 1990, Vol. 3, Pages 335-344. en_US
URI http://hdl.handle.net/10576/7803 en_US
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
Language en en_US
Publisher Qatar University en_US
Subject Computation Techniques en_US
Title On The Computational Efficiency Of Four Numerical Techniques For Solving The Practical Inverse Kinematics Problem Of Redundant Manipulators en_US
Type Article en_US
Pagination 335-344 en_US
Volume Number 3 en_US


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