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A novel weighted damping coefficient based manipulability maximizing (WDCMM) scheme is proposed and investigated in this paper for the motion planning of wheeled mobile redundant manipulators. Such a scheme treats the mobile platform and the redundant manipulator as a whole system, and is thus called a coordinated control scheme. In order to improve the manipulability during the end-effector task...
The forward kinematics (FK) problem for robotic manipulators has a mathematically analytical solution, while the inverse kinematics (IK) problem is computationally expensive, and the closed-form expression of the solution does not always exist. In recent years, many approaches have been proposed to solve such a complicated IK problem, such as the traditional pseudo-inverse based solution. However,...
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