A time-varying coefficient-based manipulability-maximizing scheme for motion control of redundant robots subject to varying joint-velocity limits

DOI10.1002/OCA.2017zbMath1275.49058OpenAlexW1891953025MaRDI QIDQ2857158

Jun Li, Zhijun Zhang, Yu-Nong Zhang

Publication date: 31 October 2013

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2017

zbMATH Keywords

quadratic programtime-varying coefficientredundancy resolutionLVI-based numerical algorithmmanipulability maximization schemeoptimal motion controlvarying joint-velocity limits

Mathematics Subject Classification ID

Quadratic programming (90C20) Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• A new method for a class of linear variational inequalities
• SINGULARITIES OF ROBOT MANIPULATORS
• A global cartesian space obstacle avoidance scheme for redundant manipulators
• Performance Analysis of Gradient Neural Network Exploited for Online Time-Varying Matrix Inversion
• Nonlinear Programming

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