Nonholonomic behavior in redundant robots under kinematic control
نویسندگان
چکیده
منابع مشابه
Nonholonomic behavior in redundant robots under kinematic control
We analyze the behavior of redundant robots when the joint motion is generated by inverting task velocity commands through a kinematic control scheme. Depending on the chosen inversion scheme, the robot motion is subject to differential constraints that may or may not be integrable. Accordingly, we give a classification in terms of holonomic, partially nonholonomic, and completely nonholonomic ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1997
ISSN: 1042-296X
DOI: 10.1109/70.631239