Passive Decoupled Multitask Controller for Redundant Robots
Author:
Affiliation:
1. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany
Funder
Bavarian Ministry of Economic Affairs, Regional Development and Energy
SMiLE2gether Project
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Electrical and Electronic Engineering,Control and Systems Engineering
Link
http://xplorestaging.ieee.org/ielx7/87/10001841/09759510.pdf?arnumber=9759510
Reference53 articles.
1. Inverse dynamics control of floating base systems using orthogonal decomposition
2. Inverse dynamics control of floating-base robots with external constraints: A unified view
3. Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability
4. Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite Lyapunov functions
5. Continuously Shaping Projections and Operational Space Tasks
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