Abstract
In this chapter we first discuss the importance of the research of the repetitive motion planning (RMP) of redundant robots and review the recent results on RMP. Then we present three kinds of robotics. Especially, the Jacobian matrices of a five-link planar robot manipulator, the PUMA560 manipulator, and the PA10 manipulator are derived in detail for further discussion, simulations, and experiments.
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Zhang, Y., Zhang, Z. (2013). Fundamentals. In: Repetitive Motion Planning and Control of Redundant Robot Manipulators. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37518-7_1
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DOI: https://doi.org/10.1007/978-3-642-37518-7_1
Publisher Name: Springer, Berlin, Heidelberg
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