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Dual-arm robotic systems have been intensively studied in the literature. However, in industrial robotics, the resolution of the kinematic redundancy allowed by the coordinated manipulation task is still an open issue. In fact, typical proprietary industrial robotic controllers do not allow the programmer to modify the inverse kinematics algorithm, and thus to solve redundancy following any specified...
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviors at the joint level. When the end effector describes a closed trajectory, the joint angles may not return to their initial values. Likewise, final configuration in the joint space may depend on the trajectory that is followed by the end effector. In this paper, a complete parameterization of holonomic redundancy...
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviours at joint level. When the end-effector describes a closed trajectory, the joint angles may not return to their initial values and final configuration in the joint space may depend on the trajectory followed by the end-effector. In this paper, a complete parameterization of holonomic local control strategies...
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