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Discrete-time velocity control of redundant robots with acceleration/torque optimization properties
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
The paper addresses the following problem for redundant robots. Given a second-order inverse differential scheme that realizes instantaneously a desired task acceleration and has some specified properties in terms of joint acceleration or torque, define a discrete-time joint velocity command that shares the same characteristics under suitable hypotheses. The goal is to obtain simpler implementations of possibly complex robot control laws that i) can be directly interfaced to the lowlevel servo
doi:10.1109/icra.2014.6907613
dblp:conf/icra/Flacco014a
fatcat:64wnc77ysbcm5hrkcczqyw22mi