ROBOTS WITH REDUNDANT KINEMATICS GET MORE AND MORE IMPORTANT FOR REMOTE OPERATIONS IN HOSTILE ENVIRONMENT, ESPECIALLY DUE TO THEIR FLEXIBILITY IN OPERATING IN CONFINED WORKSPACES. THIS PAPER DESCRIBES A NEW SYSTEM OSCAR WHICH IS ABLE TO CONTROL ARBITRARY (REDUNDANT OR NON-REDUNDANT) ROBOTS. OSCAR IS BASED ON AN OPTIMIZATION APPROACH. IT TAKES INTO ACCOUNT VARIOUS CRITERIA TO CONTROL THE CONFIGURATION OF REDUNDANT ROBOTS AND REGARDS KINEMATICAL AND TECHNOLOGICAL RESTRICTIONS.
| Number of Pages : | 12 |
| Published : | 06/01/1994 |
