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An algorithm for the solution of the inverse kinematic problem of the redundant robots is presented. The method has the advantage of generating efficient symbolic solution from the number-of-operations point of view; it gives the null space solution with a computational cost comparable to that of the pseudoinverse solution. The given method can be used to provide most of the optimization criteria used in the literature; an exact solution is proposed for most of them.>
Chevallereau et al. (Mon,) studied this question.