Maximal Manipulation Framework using Quadratic Programming for a Teleoperated Robotic System with Articulated bodies
Donghyeon Lee,Dongwoo Ko,Wan Kyun Chung,Keehoon Kim,Donghyeon Lee,Dongwoo Ko,Wan Kyun Chung,Keehoon Kim
This paper proposes a teleoperation framework to exploit the maximum manipulation capability during teleoperation. Here, exploiting maximum manipulation capacity means that the robot moves with its maximum control input while not violating the given constraints, and it is a nonlinear optimization problem with nonlinear constraints which is hard to be solved. The proposed framework relaxes the opti...
