Redundancy Resolution Scheme for Manipulators Subject to Inequality Constraints
The aim of this paper is the development of a redundancy resolution scheme for manipulators able to cope with kinematic constraints. In detail, the structure of the controller is of weighted least norm (WLN) type. The constraints are modeled as unilateral inequalities and can be general scalar funct...
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Published in | International journal of control, automation, and systems Vol. 21; no. 2; pp. 575 - 590 |
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Main Authors | , , , , |
Format | Journal Article |
Language | English |
Published |
Bucheon / Seoul
Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
01.02.2023
Springer Nature B.V |
Subjects | |
Online Access | Get full text |
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