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- W2908064603 abstract "Inverse kinematics is quite an important issue for redundant manipulator arms. This paper presents the kinematics analysis including forward kinematics and inverse kinematics for a large-scale heavy-load redundant manipulator arm. Firstly, the overview of the heavy-load redundant manipulator arm which is developed for a multi-purpose remote maintenance system for tokamak is introduced. After that, the forward kinematics of the manipulator arm is analyzed using D-H method, and simulated in Matlab. Finally, the inverse kinematics of the manipulator arm is investigated by combining the gradient projection method and obstacle avoidance optimization in order to solve the redundancy of the manipulator arm. The work in this paper is the basis for path planning of redundant manipulator arms." @default.
- W2908064603 created "2019-01-11" @default.
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- W2908064603 date "2018-10-01" @default.
- W2908064603 modified "2023-09-24" @default.
- W2908064603 title "Kinematics Ayalysis for a Heavy-load Redundant Manipulator Arm Based on Gradient Projection Method" @default.
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- W2908064603 doi "https://doi.org/10.1109/iaeac.2018.8577627" @default.
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