Motion control of redundant robots under joint constraints: Saturation in the null space

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 285-292

  Flacco, Fabrizio ^a   De Luca, Alessandro ^a   Khatib, Oussama ^b  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

^b Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL EFFICIENCY; ITERATIVE METHODS; REDUNDANT MANIPULATORS;

ACCELERATION LIMITS; CARTESIAN SPACE; DIFFERENTIAL KINEMATICS; ITERATIVE ALGORITHM; JOINT CONSTRAINT; JOINT VELOCITY; MINIMUM NORM SOLUTIONS; REDUNDANT ROBOT;

INVERSE PROBLEMS;

EID: 84864480657     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6225376     Document Type: Conference Paper

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