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• W1900446687 abstract "The paper focuses on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algorithms are proposed for Cartesian space (task space) control of redundant modular robots. The effectiveness of the proposed algorithms has been experimentally demonstrated by a 7-DOF serial modular robot that performs a pick-and-place task with the avoidance of joint angle limits." @default.
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• W1900446687 date "2002-11-08" @default.
• W1900446687 modified "2023-10-16" @default.
• W1900446687 title "Cartesian coordinate control for redundant modular robots" @default.
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• W1900446687 doi "https://doi.org/10.1109/icsmc.2000.886505" @default.
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