Null-space dynamics-based control of redundant manipulators in reducing impact

Control Engineering Practice

Volumn 5, Issue 9, 1997, Pages 1273-1282

  Chung, W J ^a,b   Kim, I H ^a,b   Joh, J ^a,b  

^a Changwon National University   (South Korea)

^b Kangwon National University   (South Korea)

Author keywords

impact control; null space dynamics; operational space dynamic formulation; redundant manipulators; systematic switching algorithm

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; FORCE CONTROL; MOTION CONTROL; OPTIMIZATION; REDUNDANCY; TORQUE CONTROL;

IMPACT CONTROL; NULL SPACE DYNAMICS; OPERATIONAL SPACE DYNAMIC FORMULATION; SYSTEMATIC SWITCHING ALGORITHM;

MANIPULATORS;

EID: 0031238418     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(97)84366-3     Document Type: Article

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