Collision-Free Compliance Control for Redundant Manipulators: An Optimization Case
نویسندگان
چکیده
منابع مشابه
Multi-Point Cartesian Compliance Control of Redundant Manipulators
A Cartesian compliance based control scheme is presented for the kinematically redundant serial manipulator. The controller can be decomposed into three parts. The first part imposes the desired cartesian compliance of the end effector. The second part attempts to shape the cartesian compliance parameters of the virtual points by the avaiable joint torque null space. Finally, the additional ter...
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ژورنال
عنوان ژورنال: Frontiers in Neurorobotics
سال: 2019
ISSN: 1662-5218
DOI: 10.3389/fnbot.2019.00050