“Dynamic Control of Kinematically Redundant Robotic Manipulators”
Authors: Erling Lunde, Olav Egeland and Jens G. Balchen,Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1987, Vol 8, No 3, pp. 159-174.
Keywords: Robotics, kinematically redundant manipulators, non-linear control, optimal control
Abstract: Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.
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DOI: 10.4173/mic.1987.3.4DOI forward links to this article:
| [1] Morten Breivik and Gunnar Sand (2009), doi:10.4173/mic.2009.3.2 |
| [2] Erling Lunde and Jens G. Balchen (1988), doi:10.4173/mic.1988.4.4 |
| [3] Jang Myung Lee (1998), doi:10.1007/BF02945724 |
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BibTeX:
@article{MIC-1987-3-4,
title={{Dynamic Control of Kinematically Redundant Robotic Manipulators}},
author={Lunde, Erling and Egeland, Olav and Balchen, Jens G.},
journal={Modeling, Identification and Control},
volume={8},
number={3},
pages={159--174},
year={1987},
doi={10.4173/mic.1987.3.4},
publisher={Norwegian Society of Automatic Control}
};