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Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators |
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| Authors: | Binghuang Cai Yunong Zhang |
| Affiliation: | aSchool of Information Science and Technology, Sun Yat-Sen University, Guangzhou 510275, PR China |
| Abstract: | The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels. |
| Keywords: | Equivalence Redundancy resolution Different levels Gradient descent PUMA560 robot manipulator Quadratic programming |
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