Stabilized minimum infinity-norm torque solution for redundant manipulators

Robotica

Volumn 16, Issue 2, 1998, Pages 193-205

  Shim, Ick Chan ^a   Yoon, Yong San ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Acceleration polyhedron; Feasibility constraint; Redundant manipulator; Torque minimization

Indexed keywords

ACCELERATION; ACTUATORS; ALGORITHMS; COMPUTER SIMULATION; DYNAMICS; END EFFECTORS; SYSTEM STABILITY; TORQUE;

ACCELERATION POLYHEDRON; REDUNDANT MANIPULATORS; TORQUE MINIMIZATION;

MANIPULATORS;

EID: 0032023232     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574798000526     Document Type: Article

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