A novel QP-based kinematic redundancy resolution method with joint constraints satisfaction
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DOI: 10.1109/access.2022.3167403
Abstract: Kinematically redundant manipulators are advantageous for their increased dexterity and ability to fulfill some secondary requirements along with their primary task to follow the prescribed trajectory. The redundancy results in a non-trivial inverse kinematics problem… read more here.
Keywords: redundancy; joint constraints; constraints satisfaction; redundancy resolution ... See more keywords