Burdick, Joel W. and Cetin, Bedri C. and Barhen, Jacob (1991) Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling. In: Proceedings. 1991 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 939-944. ISBN 0-8186-2163-X. https://resolver.caltech.edu/CaltechAUTHORS:20190611-105202620
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Abstract
A method for the global configuration resolution for kinematically redundant manipulators is presented. This method is based on an efficient global optimization algorithm which uses a sub-energy tunneling function and terminal repellers. This optimization algorithm is reviewed, and its specialization to redundancy resolution is developed. Applications of this method and comparisons to null-space projection are presented.
| Item Type: | Book Section | ||||||
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| Additional Information: | © 1991 IEEE. | ||||||
| DOI: | 10.1109/ROBOT.1991.131709 | ||||||
| Record Number: | CaltechAUTHORS:20190611-105202620 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190611-105202620 | ||||||
| Official Citation: | J. W. Burdick, B. C. Cetin and J. Barhen, "Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling," Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 1991, pp. 939-944 vol.1. doi: 10.1109/ROBOT.1991.131709 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 96276 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 11 Jun 2019 21:32 | ||||||
| Last Modified: | 16 Nov 2021 17:19 |
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