423 KB18 KB197720261997Lenarčič, JadranNemec, Bojanletnik:21številka:4str. 651-655ISSN:0350-5596COBISSID:13007911URN:URN:NBN:SI:doc-VG47EVJLenSlovensko društvo InformatikaInformatica (Ljubljana)kibernetikakrmiljenjerobotikaSteepest descent optimisation in the secondary space of redundant manipulators|To minimise a cost function in the secondary level of control of redundant manupulators, the gradient of the cost function is projected on the null space of the primary task. This projection, however, does not guarantee the maximum decrement of the cost function. In the present paper we rotate the null space of the primary task in order to find the maximum optimisation step. By this improvement, the optimisation procedure can provide the desired solution in much less iterationsTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaSlovensko društvo Informatika