Task-based configuration control of redundant manipulators

DOI10.1002/ROB.4620090307MaRDI QIDQ3991732zbMATH OpenOpenAlexFDO

Authors Homayoun Seraji

Publication date 28 June 1992

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620090307

zbMATH Keywords

configuration controlend-effector characteristicsjoint inertia matrixmanipulator dynamicsredundancy resolution

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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(18)

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• The multiple virtual end-effectors approach for human-robot interaction
• From task parameters to motor synergies: A hierarchical framework for approximately optimal control of redundant manipulators
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• scientific article; zbMATH DE number 108627 (Why is no real title available?)
• Direct adaptive impedance control of robot manipulators
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• Null torque‐based dynamic control for kinematically redundant manipulators
• Adaptive explicit force control of position-controlled manipulators
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• Consistent Task Specification for Manipulation Systems With General Kinematics
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• On multiple secondary task execution of redundant nonholonomic mobile manipulators

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