Chaotic behavior in the pseudoinverse control of redundant and hyper-redundant robots
Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. The experiments confirm the non-linear and chaotic performa...
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| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
2019
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| Texto completo: | http://hdl.handle.net/10400.22/13399 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13399 |