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  • ICRA2013:Closed Form Solution for Inverse Kinematical Mapping for Redundant Open Chain Manipulators (submitted)

ICRA2013:Closed Form Solution for Inverse Kinematical Mapping for Redundant Open Chain Manipulators (submitted)

Posted on October 3, 2013October 9, 2020 By jannis No Comments on ICRA2013:Closed Form Solution for Inverse Kinematical Mapping for Redundant Open Chain Manipulators (submitted)
Conference participation, scientific publication

In the current work a closed form solution for a multi redundant open chain manipulator is presented. Exploiting the geometrical properties of the open chain we derive first ananalytic solution for the seven degree of freedom arm. And introduce then a methodology to incorporate additional degree of freedoms in the chain preserving the closed form solution. The presented solution allows for flexible handling of motion constraints by utilizing the free parameters of the redundant chain. The approach is applied on several robotic systems with manipulators from seven up to nine degree of freedom.

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