Torque optimizing control with singularity-robustness for kinematically redundant robots
type: Item
instance of: scholarly article
title: Torque optimizing control with singularity-robustness for kinematically redundant robots
zbMATH Open document ID: 1034.93544
DOI: 10.1023/A:1008152705719
author: Yanyan Li
published in: Journal of Intelligent \& Robotic Systems
publication date: 2003-02-17T00:00:00Z
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 68T40
zbMATH DE Number: 1870107
zbMATH Keywords: kinematically redundant manipulators
zbMATH Keywords: torque-optimality
zbMATH Keywords: singularity-robustness
zbMATH Keywords: dynamic control equation
zbMATH Keywords: weighted generalized inverses
zbMATH Keywords: Jacobian-inertia product
zbMATH Keywords: damped least-squares inverses
zbMATH Keywords: generalized dynamic manipulability measure
MaRDI profile type: Publication
full work available at URL: a:1008152705719
OpenAlex ID: W1570360331
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description: scientific article; zbMATH DE number 1870107