Task-priority inverse kinematics for underactuated redundant manipulators
نویسندگان
چکیده
Task control for underactuated redundant articulated robotic systems is addressed in this paper. In failed ground robots, as well as in aerial or underwater vehicle-manipulator systems, the unactuated degrees of freedom generally affect the task space variables to be controlled, and thus must be properly taken into account in the formulation of the control law. Within a multiple task-priority perspective, this paper investigates two solutions to the inverse kinematics problem for underactuated redundant robots. A convergence analysis is provided and numerical simulations are provided to compare the proposed solutions and evaluate their performance.
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