Null torque‐based dynamic control for kinematically redundant manipulators
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Publication:4272949
DOI10.1002/rob.4620100603zbMath0781.70021OpenAlexW2120104573MaRDI QIDQ4272949
Youngil Youm, W. J. Chung, Wan Kyun Chung
Publication date: 9 February 1994
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rob.4620100603
stabilityJacobian matrixkinematic criterionjoint torquesfull row-rank minorsminimum-norm torquenull torque
Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)
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