Global Regularization of Inverse Kinematics for Redundant Manipulators
DeMers, David, Kreutz-Delgado, Kenneth
–Neural Information Processing Systems
When m n, we say that the manipulator has redundant degrees--of-freedom (dot). The inverse kinematics problem is the following: given a desired workspace location x, find joint variables 0 such that f(O) x. Even when the forward kinematics is known, 255 256 DeMers and Kreutz-Delgado the inverse kinematics for a manipulator is not generically solvable in closed form (Craig. 1986).
Neural Information Processing Systems
Dec-31-1993