Abstract:
The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocit...Show MoreMetadata
Abstract:
The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocity. The desired redundant joint velocity can then be specified to optimize a cost function over the configurations allowed by the extra degrees of freedom that achieve the given end-effector position.<>
Date of Conference: 24-29 April 1988
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-8186-0852-8
