Abstract
The paper critically evaluates the utilisation of pseudo-inverse-based methods for the kineniatic inversion of hyper-redundant multi-link robot manipulators. The validity of these methods is questioned from the viewpoint of the computational efficiency specified in terms of arithmetic operations per iteration step. Even though the pseudo-inverse-based methods provide better convergence, less computation time is needed by steepest descent methods especially in continuous path control and in applications where very few iterations are needed or good initial estimations are provided
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© 1993 Springer Science+Business Media Dordrecht
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Lenarčič, J. (1993). Computational Considerations on Kinematics Inversion of Multi-Link Redundant Robot Manipulators. In: Angeles, J., Hommel, G., Kovács, P. (eds) Computational Kinematics. Solid Mechanics and Its Applications, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8192-9_7
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DOI: https://doi.org/10.1007/978-94-015-8192-9_7
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