Extended Operational Space Kinematics, Dynamics, and Control of Redundant Serial Robots
A recently developed differential geometric representation of redundant serial robot kinematics is employed to create a new extended operational space dynamics and control formulation that explicitly accounts for redundant robot degrees of freedom. This formulation corrects deficiencies in kinematic...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/12/170 |