Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots.
Resource URI: https://dblp.l3s.de/d2r/resource/publications/journals/jirs/ChungLKL00
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2000
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Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots.
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kinematically redundant manipulators; torque-optimality; singularity-robustness; dynamic control equation; weighted generalized inverses; Jacobian-inertia product; damped least-squares inverses; generalized dynamic manipulability measure
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Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots.
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