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


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