Control of Redundant Robots under Hard Joint Constraints: Saturation in the Null Space

IEEE Transactions on Robotics

Volumn 31, Issue 3, 2015, Pages 637-654

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

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

^b Stanford University   (United States)

Author keywords

Hard joint constraints; inverse differential kinematics; motion control; optimal joint velocity; redundant robots; saturation of commands

Indexed keywords

QUADRATIC PROGRAMMING; REAL TIME CONTROL; REDUNDANT MANIPULATORS;

JOINT CONSTRAINT; JOINT SPACE; MINIMUM NORM SOLUTIONS; MULTIPLE TASKS; OPTIMALITY; QUADRATIC PROGRAMMING PROBLEMS; REDUNDANT ROBOT; SCALING PROCEDURES;

ALGORITHMS;

EID: 84958151431     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2015.2418582     Document Type: Article

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