On Manipulator Posture Planning for Large Force Tasks

Papadopoulos, E; Gonthier, Y

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Gonthier, Y	en
dc.date.accessioned	2014-03-01T02:48:18Z
dc.date.available	2014-03-01T02:48:18Z
dc.date.issued	1995	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33719
dc.title	On Manipulator Posture Planning for Large Force Tasks	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.1995.525274	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.1995.525274	en
heal.publicationDate	1995	en
heal.abstract	In this paper, we study the problem of large force/torque application using robotic systems with limited force/torque actuators. For such systems, the available workspace may be smaller than its reachable workspace. It is shown that redundancy increases the force capability and workspace of a robotic system. To plan redundant manipulator postures during force tasks, a new method based on a	en
heal.journalName	International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.1995.525274	en