Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi

This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whe...

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Váldodahkkit:	Isiah Zaplana, Josep Arnau Claret, Luis Basanez
Materiálatiipa:	Artigo
Giella:	Espanhol
Almmustuhtton:	Universitat Politècnica de València 2018-03-01
Ráidu:	Revista Iberoamericana de Automática e Informática Industrial RIAI
Fáttát:	Cinemática cinemática inversa manipuladores redundantes matrices de transformación singularidades
Liŋkkat:	https://polipapers.upv.es/index.php/RIAI/article/view/8822
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