A Partitioned Operational Space Approach for Singularity Handling in Six-Axis Manipulators
Task prioritization for inverse kinematics can be a powerful tool for realizing objectives in robot manipulation. This is particularly true for robots with redundant degrees of freedom, but it can also help address a debilitating singularity in six-axis robots. A roll-pitch-roll wrist is especially...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/14/5/60 |
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