Opposite Treatment on Null Space: A Unified Control Framework for a Class of Underactuated Robotic Systems With Null Space Avoidance
Author:
Affiliation:
1. Department of Mechanical Automation and Engineering, The Chinese University of Hong Kong, Hong Kong, China
2. Harvard John A Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA
Funder
Chow Yuk Ho Technology Centre of Innovative Medicine, The Chinese University of Hong Kong
Multiscale Medical Robotics Centre, AIR@InnoHK
Research Grants Council (RGC) of Hong Kong
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Subject
Electrical and Electronic Engineering,Control and Systems Engineering
Link
http://xplorestaging.ieee.org/ielx7/87/10001841/09777848.pdf?arnumber=9777848
Reference38 articles.
1. Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots
2. Near-optimal nonholonomic motion planning for a system of coupled rigid bodies
3. Feedback synthesis for underactuated systems using sequential second-order needle variations
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