Control of robots having redundant degrees of freedom
Demands have been increasing for skillful robots in many fields including atomic power generation, ocean bottom development, space craft, hospital aids, and so on. Such robots will essentially require high degrees of freedom. This paper discusses the advantages of a robot equipped with
redundant degrees of freedom and outlines a method of positive use of such redundancy.
Document Type: Research Article
Affiliations: Automation Research Laboratory, Kyoto University, Uji, Kyoto, 611, Japan
Publication date: 01 January 1988
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