On the stability of closed-loop inverse kinematics algorithms for redundant robots

IEEE Transactions on Robotics

Volumn 27, Issue 4, 2011, Pages 780-784

  Falco, Pietro ^a   Natale, Ciro ^a  

^a SECOND UNIVERSITY OF NAPLES   (Italy)

Author keywords

Inverse kinematics (IK); redundant robots; stability proof

Indexed keywords

CLOSED-LOOP; CONTINUOUS TIME; CONVERGENCE ANALYSIS; DISCRETE TIME; DISCRETE-TIME DOMAIN; INVERSE KINEMATICS ALGORITHMS; LYAPUNOV; REDUNDANT ROBOT; REDUNDANT ROBOTS; REGION OF ATTRACTION; SAMPLING TIME; TASK SPACE; UPPER BOUND;

ALGORITHMS; CONVERGENCE OF NUMERICAL METHODS; REDUNDANT MANIPULATORS; ROBOTS; TIME DOMAIN ANALYSIS;

INVERSE KINEMATICS;

EID: 80051695869     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2135210     Document Type: Article

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