: A solution to the singularity problem is presented from the approach of the operational space formulation which involves both motion and force control. A brief summary of the Ope...
The Operational Space Formulation creates a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to ...
Rodrigo S. Jamisola, Marcelo H. Ang, Denny Oetomo,...
— This paper presents an operational space control approach for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation...
One of the most general frameworks for phrasing control problems for complex, redundant robots is operational space control. However, while this framework is of essential importan...