Inverse-free computation for infinity-norm torque minimization of robot manipulators

Mechatronics

Volumn 16, Issue 3-4, 2006, Pages 177-184

  Zhang, Yunong ^a  

^a NATIONAL UNIVERSITY OF IRELAND   (Ireland)

Author keywords

Dynamic solver; Matrix computation; Minimum effort; Quadratic programming (QP); Redundancy resolution

Indexed keywords

ACCELERATION; COMPUTER SIMULATION; JOINTS (STRUCTURAL COMPONENTS); MOTION ESTIMATION; ROBOTS; TORQUE; VELOCITY MEASUREMENT;

DYNAMIC SOLVER; MATRIX COMPUTATION; MINIMUM EFFORT; REDUNDANCY RESOLUTION;

MANIPULATORS;

EID: 31944444415     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2005.11.003     Document Type: Article

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