Author/Editor		Lenarčič, J
Title		Backbone curves to approximate minimum joint torque configurations of planar multiple-link manipulators in presence of obstacles
Type		članek
Source		In: Lenarčič J, Parenti-Castelli V, editors. Recent advances in robot kinematics. Dordrecht: Kluwer academic publishers,
Publication year		1996
Volume		str. 265-74
Language		eng
Abstract		An approach is described whereby, for a given position of the end effector, the target backbone curve for a planar multiple-link manipulator is obtained when a polygonal obostacle is placed in the workspace. The curve approximates an optimum static configuration of the manipulator relative to the minimum joint torques caused by an arbitrary force applied to the end-effector. The proposed approach is numerically effective and can be implemented in real-time procedures.
Descriptors		ROBOTICS KINESIS