Self-Motion Planning with ZIV Constraint


The number of DOF is very vital for a manipulator. A manipulator is kinematically and/or functionally redundant when more DOF are available than the minimum number required to perform the primary task of a specific manipulator. Compared with a non-redundant manipulator, a redundant manipulator has wider operational space and extra degrees to configure the manipulator to meet additional functional constraints without affecting the position (and/or orientation) of the end-effector. Therefore, much attention and effort in the robotic research community have been paid to studies on and applications of redundant robot manipulators.

11.2Preliminaries and Scheme Formulation
11.3E47 Assisted QP Solution
11.4Computer Simulations and Physical Experiments
11.5Chapter Summary

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