Torque optimizing control with singularity-robustness for kinematically redundant robots

DOI10.1023/A:1008152705719MaRDI QIDQ1857325zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 17 February 2003

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008152705719

zbMATH Keywords

damped least-squares inversesdynamic control equationgeneralized dynamic manipulability measureJacobian-inertia productkinematically redundant manipulatorssingularity-robustnesstorque-optimalityweighted generalized inverses

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(15)

• Active isotropic compliance in redundant manipulators
• Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints
• Clamping weighted least-norm method for the manipulator kinematic control with constraints
• A local solution with global characteristics for the joint torque optimization of a redundant manipulator
• Improved configuration control for redundant robots
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• Simultaneously kinematical and dynamical optimizations of redundant robots
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Null torque‐based dynamic control for kinematically redundant manipulators
• Relation between global velocity and local torque optimization of redundant manipulators
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• An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach
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