Abstract
This paper briefly reviews the hierarchical kinematic analysis, and apply it to a redundant manipulator. This application is done by extending the Jacobian matrix of the redundant manipulator with a careful selection of an extra row. This method is applied to the Roboturb manipulator, a redundant robot specifically designed to repair eroded hydraulic turbine blades.
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© 2002 Springer Science+Business Media Dordrecht
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Martins, D., Guenther, R. (2002). Hierarchical Kinematic Analysis of a Redundant Robot. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_21
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DOI: https://doi.org/10.1007/978-94-017-0657-5_21
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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