Improvement of kinematically redundant manipulator design and placement using torque-weighted isotropy measures

Frank L. Hammond, Kenji Shimada. Improvement of kinematically redundant manipulator design and placement using torque-weighted isotropy measures. In 14th International Conference on Advanced Robotics, ICAR 2009, 22-26 June 2009, Munich, Germany. pages 1-8, IEEE, 2009. [doi]

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