@inproceedings{7ba4547c27854fc9ad695eb6ae5228b4,
title = "Comparative study of redundancy based on Resolved Motion Rate Control Algorithm",
abstract = "Resolved Motion Rate Control Algorithm is a kind of coordination control algorithm. The algorithm decomposes the movement of the manipulator end-effectors into the movement of the moving platform and each 3D manipulator joint harmoniously. The paper separately sets up the motion models of the fixed arm and the mobile 3D manipulator and researches redundancies of them based on the Resolved Motion Rate Control Algorithm. Compared the simulation result with the one of the fixed arm, the mobile 3D manipulator shows better smoothness, flexibility and greater workspace in mobile operating process as the more redundancy is got with the DOF of the mobile platform added.",
keywords = "Generalized Jacobian matrix, Mobile 3D manipulator, Mobile operation, Redundancy, Resolved motion rate control",
author = "Hongxing Wang and Ruifeng Li and Lianzheng Ge and Chuqing Cao",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Information and Automation, ICIA 2014 ; Conference date: 28-07-2014 Through 30-07-2014",
year = "2014",
month = oct,
day = "21",
doi = "10.1109/ICInfA.2014.6932639",
language = "英语",
series = "2014 IEEE International Conference on Information and Automation, ICIA 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "126--130",
booktitle = "2014 IEEE International Conference on Information and Automation, ICIA 2014",
address = "美国",
}