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Application of optimal damped least-squares method to inverse kinematics of robotic manipulators
Inverse kinematics for redundant robotic manipulators is typically computed using the pseudoinverse of the manipulator Jacobian. Though the pseudoinverse yields the most accurate minimum-norm joint velocity vector, it fails ...
Inverse kinematics and dynamic control methods for robotic systems
This dissertation presents new algorithms for inverse kinematic computations of robotic manipulators and for the control of multiple cooperating manipulator systems. The results presented in this thesis can be classified ...