Kinematic Control of Redundant Robots With Online Handling of Variable Generalized Hard Constraints
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DOI: 10.1109/lra.2022.3190832
Abstract: We present a generalized version of the Saturation in the Null Space (SNS) algorithm for task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian… read more here.
Keywords: control redundant; robots online; kinematic control; online handling ... See more keywords