Redundancy resolution under hard joint constraints: a generalized approach to rank updates
Anton Ziese,Mario D. Fiore,Jan Peters,Uwe E. Zimmermann,Jürgen Adamy,Anton Ziese,Mario D. Fiore,Jan Peters,Uwe E. Zimmermann,Jürgen Adamy
The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics have also increased the demand for efficient control algorithms. The unstructured environment these robots operate in often impose constraints on the joint motion, an important type being the joint limits of the robot itself. These circumstances demand control algo...
