Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested throu...
Abstract— Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence...
— This paper addresses the problem of generating optimal joint trajectories for redundant manipulators when multiple criteria are to be considered. A dynamic programming approach...
A. Guigue, Mojtaba Ahmadi, M. J. D. Hayes, R. Lang...
— This paper is devoted to the control of a cable driven redundant parallel manipulator, which is a challenging problem due the optimal resolution of its inherent redundancy. Add...
Pooneh Gholami, Mohammad M. Aref, Hamid D. Taghira...
We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained ...