Clamping weighted least-norm method for the manipulator kinematic control with constraints

DOI10.1080/00207179.2016.1153151MaRDI QIDQ2979547zbMATH OpenOpenAlexFDO

Authors Shuihua Huang, Yonggang Peng, Wei Wei, Ji Xiang

Publication date 25 April 2017

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2016.1153151

zbMATH Keywords

manipulatorinverse kinematic controlclamping weighted least-norm methodjoint limit

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Artificial intelligence for robotics (68T40) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• Continuity of Varying-Feature-Set Control Laws
• Directional Redundancy for Robot Control

Cited in

(2)

• Second-order inverse kinematic control method for non-redundant manipulator with joint constraints
• Non-compact positively invariant sets and their application to the control of speed constrained mechanical systems with saturated actuators

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