Published in
Elsevier, Physics Letters A, 38(373), p. 3450-3453, 2009
DOI: 10.1016/j.physleta.2009.07.045
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Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators
Journal article published in 2009 by
Binghuang Cai 
,
Yunong Zhang
,
Yunong Zhang
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Abstract
The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels.