Torque optimizing control with singularity-robustness for kinematically redundant robots

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DOI10.1023/A:1008152705719zbMath1034.93544OpenAlexW1570360331MaRDI QIDQ1857325

Publication date: 17 February 2003

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1008152705719

zbMATH Keywords

weighted generalized inverses damped least-squares inverses dynamic control equation generalized dynamic manipulability measure Jacobian-inertia product kinematically redundant manipulators singularity-robustness torque-optimality

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Artificial intelligence for robotics (68T40)

Related Items (2)

Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints ⋮ Active isotropic compliance in redundant manipulators

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