Torque optimizing control with singularity-robustness for kinematically redundant robots (Q1857325)
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scientific article; zbMATH DE number 1870107
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Torque optimizing control with singularity-robustness for kinematically redundant robots |
scientific article; zbMATH DE number 1870107 |
Statements
Torque optimizing control with singularity-robustness for kinematically redundant robots (English)
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17 February 2003
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kinematically redundant manipulators
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torque-optimality
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singularity-robustness
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dynamic control equation
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weighted generalized inverses
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Jacobian-inertia product
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damped least-squares inverses
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generalized dynamic manipulability measure
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0.92896837
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0.91353565
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0.91345704
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0.9031858
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0.8997576
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0.89624906
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0.8953073
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