Torque optimizing control with singularity-robustness for kinematically redundant robots

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 28, Issue 3, 2000, Pages 231-258

  Chung, C Y ^a   Lee, B H ^a   Kim, M S ^b   Lee, C W ^b  

^a Seoul National University   (South Korea)

^b Korea Institute of Science and Technology   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

DAMPING; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; EQUATIONS OF MOTION; INVERSE PROBLEMS; KINEMATICS; LINEARIZATION; MATHEMATICAL MODELS; MOTION CONTROL; OPTIMAL CONTROL SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); TORQUE CONTROL;

DYNAMIC CONTROL EQUATION; GENERALIZED DYNAMIC MANIPULABILITY MEASURE; JACOBIAN INERTIA PRODUCT; KINEMATICALLY REDUNDANT MANIPULATORS; SINGULARITY ROBUSTNESS; TORQUE OPTIMALITY; WEIGHTED GENERALIZED INVERSES;

MANIPULATORS;

EID: 0033689150     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1008152705719     Document Type: Article

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