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Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

Author: Singh, GK ; Claassens, J Date: Oct 2010 This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end-effector ... Read more

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Browsing by Subject "Redundant manipulation"

Browsing by Subject "Redundant manipulation"

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