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Contribution to the kinematics and dynamics of redundant robots via distributed positioning

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Abstract

The concept of distributed positioning is based on the separation of the required end-effector motion into two components according to a criterion. The external-to-internal transformation of the motion is made in such a way that some of the joints become responsible for the first and others for the second component. Thus, the redundancy could be compensated and the unique solution of the inverse kinematics achieved. If the separation is made according to the acceleration criterion, then the ‘smooth’ and the ‘fast’ components of the end-effector motion are obtained. The paper shows that this concept results in the improvement of robot dynamic capabilities.

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References

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Authors and Affiliations

  1. Electrical Engineering Faculty, Bulevar Revolucije 73, 11000, Belgrade, Yugoslavia

    Veljko Potkonjak

  2. R&D Institute ‘Brodosplit’, Put undarnika 19, 58000, Split, Yugoslavia

    Ante Krstulović

Authors
  1. Veljko Potkonjak
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  2. Ante Krstulović
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Additional information

This work was supported by the Science Fund of the Republic of Serbia (project: Robotics).

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Potkonjak, V., Krstulović, A. Contribution to the kinematics and dynamics of redundant robots via distributed positioning. J Intell Robot Syst 5, 229–239 (1992). https://doi.org/10.1007/BF00247419

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  • DOI: https://doi.org/10.1007/BF00247419

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