Name
Abstract | ||
|---|---|---|
This article presents a new kinematic control paradigm for redundant robots based on optimization. The general approach takes into account convex objective functions with inequality constraints and a specific equality constraint resulting from a Lyapunov function, which ensures closed-loop stability by design. Furthermore, we tackle an important particular case by using a convex combination of qua... |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/TRO.2019.2963665 | IEEE Transactions on Robotics |
Keywords | DocType | Volume |
Robots,Task analysis,Kinematics,Stability analysis,Optimization,Linear programming,Collision avoidance | Journal | 36 |
Issue | ISSN | Citations |
3 | 1552-3098 | 0 |
PageRank | References | Authors |
0.34 | 7 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vinicius Mariano Gonçalves | 1 | 10 | 4.65 |
| Bruno Vilhena Adorno | 2 | 45 | 8.08 |
| André Crosnier | 3 | 86 | 10.69 |
| Philippe Fraisse | 4 | 191 | 37.60 |