A Novel QP-Based Kinematic Redundancy Resolution Method With Joint Constraints Satisfaction
Kinematically redundant manipulators are advantageous for their increased dexterity and ability to fulfill some secondary requirements along with their primary task to follow the prescribed trajectory. The redundancy results in a non-trivial inverse kinematics problem (IK). Standard methods of redun...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9757150/ |