Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios
Sign Up to like & getrecommendations! Published in 2021 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-021-06545-6
Abstract: This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on operational space control (OSC) tasks. Unlike conventional OSC approaches that partly address the under-actuated system… read more here.
Keywords: actuation failure; actuated joints; control; operational space ... See more keywords