Feedback-Added Pseudoinverse-Type Balanced Minimization Scheme for Kinematic Control of Redundant Robot Manipulators

In this paper, a new feedback-added pseudoinverse-type balanced minimization (FPBM) scheme is proposed and studied for the kinematic control of redundant robot manipulators. Such a scheme is designed by combining the minimum acceleration norm (MAN) solution and the weighted minimum velocity norm (WM...

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Veröffentlicht in:	IEEE access 2019, Vol.7, p.23806-23815
Hauptverfasser:	Wang, Zhenhuan, Wang, Boyang, Xu, Lingjie, Xie, Qinyu
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Balanced minimization End effectors Feedback kinematic control Kinematics Manipulators Minimization Optimization pseudoinverse redundant robot manipulators Robot arms Robot control Robots Simulation Tracking errors
Online-Zugang:	Volltext
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