Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi
This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whe...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politècnica de València
2018-03-01
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| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/8822 |
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