A New Second-Order Inverse Kinematics Solution for Redundant Manipulators

  • Zoran R. Novaković
  • Bruno Siciliano
Conference paper


A new scheme for deriving joint acceleration solutions for redundant, manipulators is presented. Compared with previous results on this topic, the algorithm presented in this paper is computationally more efficient. Moreover, it overcomes the problem of internal instabillity of the mechanism structure. A case study illustrates the performance of the algorithm on a three-degree-of-freedom planar arm.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Zoran R. Novaković
    • 1
  • Bruno Siciliano
    • 2
  1. 1.Odsek za avtomatiko, biokibernetiko in robotikoInstitut Jožef Stefan, Univerza “Edvard Kardelj”, LjubljanaLjubljanaYugoslavia
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studî di Napoli “Federico II”NapoliItaly

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