Task-based configuration control of redundant manipulators

DOI10.1002/rob.4620090307zbMath0741.70022OpenAlexW2050816021MaRDI QIDQ3991732

H. Seraji

Publication date: 28 June 1992

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

Full work available at URL: https://doi.org/10.1002/rob.4620090307

zbMATH Keywords

redundancy resolutionmanipulator dynamicsconfiguration controlend-effector characteristicsjoint inertia matrix

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items

Adaptive explicit force control of position-controlled manipulators ⋮ Task-based configuration control of redundant manipulators ⋮ Direct adaptive impedance control of robot manipulators ⋮ Cartesian control of redundant robots

Cites Work

• Improved configuration control for redundant robots
• Task-based configuration control of redundant manipulators
• Obstacle avoidance for redundant robots using configuration control