Abstract
This paper discusses some computational aspects related to the direct and inverse kinematics problems of serial and robot parallel mechanisms, kinematic singularities, workspace determination, manipulability, and kinematic flexibility. With the focus on kinematic redundancy, an example of the humanoid shoulder presents peculiarities in robot and human motion performing different tasks, such as the manipulation of heavy objects or writing. Redundancy enables to the robot to solve different tasks and in an infinite number of ways. The robot can thus simultaneously solve additional secondary tasks of lower priority.
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Lenarčič, J. (2014). Some Computational Aspects of Robot Kinematic Redundancy. In: Bartz-Beielstein, T., Branke, J., Filipič, B., Smith, J. (eds) Parallel Problem Solving from Nature – PPSN XIII. PPSN 2014. Lecture Notes in Computer Science, vol 8672. Springer, Cham. https://doi.org/10.1007/978-3-319-10762-2_1
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DOI: https://doi.org/10.1007/978-3-319-10762-2_1
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-10761-5
Online ISBN: 978-3-319-10762-2
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