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Solving the singularity problem of non-redundant manipulators by constraint optimization

G. Schreiber, M. Otter, G. Hirzinger
<i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)</a> </i> &nbsp;
A solution to the singularity problem of a non-redundant robot is proposed by reformulating the inverse kinematic problem as a constraint optimization problem.  ...  As a result, in every sampling instant a series of linear least squares problems with linear equality and inequality constraints have to be solved.  ...  Conclusions The usage of constraint optimization algorithms turns out to be very useful when solving the singularity problem of non-redundant robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.1999.811688">doi:10.1109/iros.1999.811688</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/SchreiberOH99.html">dblp:conf/iros/SchreiberOH99</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ioaaz46gtvf4db5twavf3ja6sa">fatcat:ioaaz46gtvf4db5twavf3ja6sa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809131758/http://elib.dlr.de/11581/1/otter1999-iros-singularity.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/71/6b/716bab5f7692acc8d18e4711a511775bfc46c1ed.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.1999.811688"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization

Bolin Liao, Jianfeng Li, Shuai Li, Zhan Li
<span title="2022-02-02">2022</span> <i title="European Alliance for Innovation n.o."> EAI Endorsed Transactions on AI and Robotics </i> &nbsp;
In this paper, we revisit the perspective and methodology on constrained optimization paradigms for kinematic control of redundant manipulators.  ...  Different from non-redundant manipulators, optimization paradigms are more likely to be established and may be more efficient for kinematic control issues in redundant manipulators.  ...  However, the number of the constraints is increased and the manipulator has to possess stronger redundancy to guarantee all of the constraints are satisfied.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.4108/airo.v1i.18">doi:10.4108/airo.v1i.18</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/76uy3qakrjaendujdn7elfwa3e">fatcat:76uy3qakrjaendujdn7elfwa3e</a> </span>
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A general approach for optimal kinematic design of 6-DOF parallel manipulators

VIVEK KUMAR MEHTA, BHASKAR DASGUPTA
<span title="">2011</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/cuymmrn4wzf6xkpjp5avqt7ol4" style="color: black;">Sadhana (Bangalore)</a> </i> &nbsp;
Optimal kinematic design of parallel manipulators is a challenging problem.  ...  Two ways of introducing redundancy into the parallel manipulator have been demonstrated and comparison between them has been presented.  ...  Design of a 6-dof non-redundant parallel manipulator The problem stated above can be solved for designing a non-redundant 6-dof parallel manipulator with six legs i.e., n = 6, for certain values of input  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s12046-011-0057-x">doi:10.1007/s12046-011-0057-x</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/p6vaqwagwren7oby7ybbnfvsny">fatcat:p6vaqwagwren7oby7ybbnfvsny</a> </span>
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Optimum Design of Kinematically Redundant Planar Parallel Manipulator Following a Trajectory

K. V. Varalakshmi, J. Srinivas
<span title="">2015</span> <i title="EJournal Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/a63lgiogebbbrkk5xxhvbsw6f4" style="color: black;">International Journal of Materials Mechanics and Manufacturing</a> </i> &nbsp;
This paper presents an optimum design approach for selection of base-joint locations of a kinematically redundant parallel linkage following a desired trajectory by minimizing the active joint torques.  ...  However, in path tracking problems, selection of redundant joint positions is tedious procedure due to existence of multiple solutions for inverse kinematics.  ...  Fig. 12 Fig. 12 . 1212 shows the dexterity of non-redundant and redundant manipulators; here in the non-redundant case the dexterity is very much low at singularity points.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.7763/ijmmm.2015.v3.170">doi:10.7763/ijmmm.2015.v3.170</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fs547sqtgjgyhnj3kov5du7b3i">fatcat:fs547sqtgjgyhnj3kov5du7b3i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180721140041/http://www.ijmmm.org/vol3/170-CR005.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/36/cb/36cbf0b67db8dde14ae9679f2f82176f1b359a95.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.7763/ijmmm.2015.v3.170"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A PROJECTED GRADIENT AUGMENTED LAGRANGIAN APPROACH TO MULTI-OBJECTIVE TRAJECTORY PLANNING OF REDUNDANT ROBOTS

Amar KHOUKHI, Luc BARON, Marek BALAZINSKI
<span title="">2007</span> <i title="Canadian Science Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ziit3wkw6bhmhknhtz72nq366i" style="color: black;">Transactions of the Canadian Society for Mechanical Engineering</a> </i> &nbsp;
The Augmented Lagrangian with decoupling (ALD) technique is used to solve the resulting constrained nonconvex and non-linear optimal control problem.  ...  Simulations on a three degrees of freedom planar redundant serial manipulator show the effectiveness of the proposed system.  ...  ACKNOWLEDGMENTS The authors gratefully thank the anonymous reviewers for the valuable comments and the Natural Science and Engineering Research Council of Canada (NSERC) for supporting this work under  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1139/tcsme-2007-0028">doi:10.1139/tcsme-2007-0028</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kzhoy3jy6fbibkavrbcewpwbtm">fatcat:kzhoy3jy6fbibkavrbcewpwbtm</a> </span>
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Real-Time Motion Tracking of Robot Manipulators Using Adaptive Genetic Algorithms

Mahmoud Tarokh, Xiaomang Zhang
<span title="2013-07-17">2013</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/j3lijnt6abap7pt7tsbut2pnum" style="color: black;">Journal of Intelligent and Robotic Systems</a> </i> &nbsp;
The paper presents a genetic algorithm approach to real-time motion tracking of redundant and non-redundant manipulators.  ...  The tracking problem is solved at the position level rather the then velocity level.  ...  Next, it will be shown that any simple or complex constraints and optimization objective can easily be included in the genetic algorithm formulation of the problem.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s10846-013-9860-4">doi:10.1007/s10846-013-9860-4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/lwgz7wnsrrgynapjjcy3uuhsvy">fatcat:lwgz7wnsrrgynapjjcy3uuhsvy</a> </span>
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Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy [chapter]

Andreas Mller, Timo Hufnagel
<span title="2012-03-30">2012</span> <i title="InTech"> Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization </i> &nbsp;
In summary, the redundant formulation Serial and Parallel Robot Manipulators -Kinematics, Dynamics, Control and Optimization Edited by Dr.  ...  Singularity-Free Dynamics Modeling and Control of Parallel Manipulators with Actuation Redundancy, Serial and Parallel Robot Manipulators -Kinematics, Dynamics, Control and Optimization, Dr.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/33176">doi:10.5772/33176</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zefzzn7bzvhylc3veakjooi34u">fatcat:zefzzn7bzvhylc3veakjooi34u</a> </span>
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An Analytic-Iterative Redundancy Resolution Scheme for Cable-Driven Redundant Parallel Manipulators

Hamid D. Taghirad, Yousef B. Bedoustani
<span title="">2011</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dg2bd7saqzaj3e4myjqwziwpa4" style="color: black;">IEEE Transactions on robotics</a> </i> &nbsp;
The redundancy resolution problem is formulated as a convex optimization with equality and inequality constraints imposed by manipulator structure and cables dynamics.  ...  In this paper, redundancy resolution of a cabledriven parallel manipulator is solved by an analytic-iterative scheme.  ...  , are of interest for a cable-driven manipulator: By choosing , a non-negative constant this inequality constraint ensures that the cables are all in tension.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tro.2011.2163433">doi:10.1109/tro.2011.2163433</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/e2qaibf4ezg3xooyjo6yb52xti">fatcat:e2qaibf4ezg3xooyjo6yb52xti</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170809053313/http://saba.kntu.ac.ir/eecd/taghirad/papers/draft%20yousef.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f1/91/f191479c1c166279b2e0e1ab7d0135edb527ffd8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tro.2011.2163433"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Damped least square based genetic algorithm with Ggaussian distribution of damping factor for singularity-robust inverse kinematics

Le Minh Phuoc, Philippe Martinet, Sukhan Lee, Hunmo Kim
<span title="">2008</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vrhl7ochdjby5clgwshtzjfxxm" style="color: black;">Journal of Mechanical Science and Technology</a> </i> &nbsp;
The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot.  ...  Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of  ...  Acknowledgment This work is supported by Intelligent Robotics Program, one of the 21stcentury Frontier R&D Program funded by the Ministry of Commerce, Industry, and Energy of Korea.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s12206-008-0427-4">doi:10.1007/s12206-008-0427-4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6rsbgqmuljdt7ik57tqgn3ynqy">fatcat:6rsbgqmuljdt7ik57tqgn3ynqy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808225753/http://www.irccyn.ec-nantes.fr/~martinet/publis/2008/Phuoc-JMST08.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/eb/ab/ebabbb86633d696fbcb1281d2a107fb288da6346.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s12206-008-0427-4"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators

Alexander Reiter, Hubert Gattringer, Andreas Müller
<span title="">2016</span> <i title="SCITEPRESS - Science and and Technology Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rb4ywm5exbao7bgfa26xtns2u4" style="color: black;">Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics</a> </i> &nbsp;
While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively.  ...  The effectiveness of the presented method is shown by means of the example of a planar 4R manipulator with two redundant degrees of freedom.  ...  ACKNOWLEDGEMENTS This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mecha-Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5220/0005975800610068">doi:10.5220/0005975800610068</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icinco/ReiterG016.html">dblp:conf/icinco/ReiterG016</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yveffxu3mvfy3f6hkvqqopdnz4">fatcat:yveffxu3mvfy3f6hkvqqopdnz4</a> </span>
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Optimized Configurations of Kinematically Redundant Planar Parallel Manipulator following a Desired Trajectory

K.V. Varalakshmi, J. Srinivas
<span title="">2014</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/kcayf4mk7zbrbhvdwizgrxaruu" style="color: black;">Procedia Technology - Elsevier</a> </i> &nbsp;
The outputs of the kinematically-redundant 3-PRRR manipulator are compared against the results for a non-redundant 3-RRR manipulator.  ...  The variables of the optimization problem are redundant base prismatic joint displacements and the constraints include the variable bounds and the pre-defined trajectory lying within the original workspace  ...  The optimized torques required by the actuators of the redundant manipulator was much lower than those of the non-redundant manipulator.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.protcy.2014.08.018">doi:10.1016/j.protcy.2014.08.018</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xc6vjraizndujdzgd6rmwybpoq">fatcat:xc6vjraizndujdzgd6rmwybpoq</a> </span>
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Designing optimal fault tolerant Jacobian for robotic manipulators

Hamid Abdi, Saeid Nahavandi
<span title="">2010</span> <i title="IEEE"> 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics </i> &nbsp;
The proposed Jacobian matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.  ...  numerical solution of constrained optimisation problem or construction of optimal Jacobian through a desired null space.  ...  ACKNOWLEDGMENT This research was fully supported by the Centre for Intelligent Systems Research (CISR) at Deakin University.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/aim.2010.5695928">doi:10.1109/aim.2010.5695928</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/gnieytofsnfjrfngnae3eu3jzi">fatcat:gnieytofsnfjrfngnae3eu3jzi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20181103100422/http://dro.deakin.edu.au/eserv/DU:30031138/abdi-designingoptimal-2010.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b3/41/b34152c2977d106526d633adf8a4f970d3f3937b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/aim.2010.5695928"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search [article]

Atef A. Ata & Thi Rein Myo
<span title="2006-01-14">2006</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study.  ...  The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately  ...  Acknowledgement: The authors would like to thank the Research Center , International Islamic University Malaysia for supporting this research  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/cs/0601063v1">arXiv:cs/0601063v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vwem6c46yjdrzjarpbzf36lrfe">fatcat:vwem6c46yjdrzjarpbzf36lrfe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191026102849/https://arxiv.org/pdf/cs/0601063v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5b/8f/5b8fe6d0b8f8beba0b47b0cb3c3feb26745d6aac.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/cs/0601063v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

Atef A. Ata, Thi Rein Myo
<span title="">2005</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dlo33cxbtffljkmrdnlsbqmlcq" style="color: black;">International Journal of Advanced Robotic Systems</a> </i> &nbsp;
Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study.  ...  The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately  ...  Acknowledgement: The authors would like to thank the Research Center , International Islamic University Malaysia for supporting this research  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/5781">doi:10.5772/5781</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mfyrgcg7ufbtlj2ntsnkqfxgda">fatcat:mfyrgcg7ufbtlj2ntsnkqfxgda</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20060827065320/http://www.ars-journal.com:80/International-Journal-of-Advanced-Robotic-Systems/Volume-2/239-244.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5f/fb/5ffb19a55a1e6f92201f05412549a8a3ed50a993.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/5781"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Evolutionary multi-objective trajectory optimization for a redundant robot in Cartesian space considering obstacle avoidance

Y. Liu, X. Li, P. Jiang, Z. Du, Z. Wu, B. Sun, X. Huang
<span title="">2022</span> <i title="Copernicus Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/pykqmvwfvfcmfexdxf4rlrw3v4" style="color: black;">Mechanical Sciences</a> </i> &nbsp;
A method of end-effector trajectory planning in Cartesian space based on multi-objective optimization is proposed in this paper to solve the collision problem during the motion of the redundant manipulator  ...  Then, the joint trajectory of the manipulator is solved by inverse kinematics, and the null space term is introduced as the joint limit constraint in the inverse kinematics equation.  ...  By optimizing the proposed function, the manipulator avoids not only the obstacle, but also the joint singularity. 3.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/ms-13-41-2022">doi:10.5194/ms-13-41-2022</a> <a target="_blank" rel="external noopener" href="https://doaj.org/article/b59c9e1821cb42bbbaad05740e1162d6">doaj:b59c9e1821cb42bbbaad05740e1162d6</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/oporybk2yzepnd7x6piegfdx2i">fatcat:oporybk2yzepnd7x6piegfdx2i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220208202349/https://ms.copernicus.org/articles/13/41/2022/ms-13-41-2022.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e6/e7/e6e7112b25a946f43d892d3c5c2c309825d1b4d8.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5194/ms-13-41-2022"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>
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