Optimal Parameterized Joints Selection to Improve Motion Planning Performance of Redundant Manipulators
Bin Xie,Qingfeng Wang,Di Wu,Bin Xie,Qingfeng Wang,Di Wu
The redundant manipulators' analytical solutions can be obtained by the parameterization method. Multiple parameterized joints and their corresponding parametric representations exist for a redundant manipulator. However, how to select the optimal parameterized joints has yet to be well-addressed. This paper delves into the mechanism of the parameterization method and proposes a method to select t...
