Clamping weighted least-norm method for the manipulator kinematic control with constraints

DOI10.1080/00207179.2016.1153151zbMath1360.93467OpenAlexW2289584150MaRDI QIDQ2979547

Wei Wei, Shuihua Huang, Yonggang Peng, Ji Xiang

Publication date: 25 April 2017

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2016.1153151

zbMATH Keywords

manipulatorinverse kinematic controlclamping weighted least-norm methodjoint limit

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

Related Items (1)

Non-compact positively invariant sets and their application to the control of speed constrained mechanical systems with saturated actuators

Cites Work

• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• Directional Redundancy for Robot Control
• Continuity of Varying-Feature-Set Control Laws

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