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A study on avoiding joint limits for inverse kinematics of redundant manipulators using improved clamping weighted least-norm method |
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| Authors: | Wan Jun Wu HongTao Ma Rui Zhang Liang’an |
| Affiliation: | 1.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing, 210016, China ;2.School of Mechanical & Aerospace Engineering, Nanyang Technological University, Nanyang, 639798, Singapore ;3.Department of Mechanical Engineering, Anhui University of Technology, Maanshan, 243032, China ; |
| Abstract: | Journal of Mechanical Science and Technology - A general method is presented for the inverse kinematics resolution of redundant manipulators with joint limits. The success of avoiding joint angular... |
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