Optimal Kinematic Task Position Determination—Application and Experimental Verification for the UR-5 Manipulator
A method for determining the optimal position of a robotic task within a manipulator’s workspace considering the minimum singularity free paths in joint space in order to achieve a high kinematic performance is presented. The selected performance criterion was the minimization of the joint velocitie...
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| Autori principali: | , , , , |
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| Natura: | Artigo |
| Lingua: | Inglês |
| Pubblicazione: |
MDPI AG
2022-09-01
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| Serie: | Applied Sciences |
| Soggetti: | |
| Accesso online: | https://www.mdpi.com/2076-3417/12/18/9352 |
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