A New Second-Order Inverse Kinematics Solution for Redundant Manipulators
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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