Consensus in Operational Space for Robotic Manipulators with Task and Input Constraints
Muhammad Ali Murtaza,Seth Hutchinson,Muhammad Ali Murtaza,Seth Hutchinson
This paper presents a real-time control framework for consensus in operational space for robotic manipulators while satisfying task and input constraints. Consensus in operational space, as compared to joint space, enables heterogeneous robotic manipulators to achieve consensus. However, traditional frameworks tend to ignore task and input constraints while achieving consensus in operational space...
