论文信息 - An alternative method for minimization of the driving forces in redundant manipulators

An alternative method for minimization of the driving forces in redundant manipulators

A discretized equation allows the acceleration terms to be changed to velocity terms in the definition of joint driving forces in robotic manipulators. An eleven degrees of freedom, three dimensional robotic manipulator is used in a numerical example to test the developed algorithm. Numerical and algorithmic stabilities are also discussed.

Kazem Kazerounian | A. Nedungadi

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