Published April 1991
| public
Book Section - Chapter
Efficient global redundant configuration resolution via sub-energy tunneling and terminal repelling
- Creators
- Burdick, Joel W.
- Cetin, Bedri C.
- Barhen, Jacob
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.
Additional Information
© 1991 IEEE.Additional details
- Eprint ID
- 96276
- Resolver ID
- CaltechAUTHORS:20190611-105202620
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2019-06-11Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field