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Torque optimizing control with singularity-robustness for kinematically redundant robots

Title
Torque optimizing control with singularity-robustness for kinematically redundant robots
Authors
C. Y. Chung; B. H. Lee; 김문상; 이종원
Keywords
kinematically redundant manipulators; torque-optimality; singularity-robustness; dynamic control equation; weighted generalized inverses; Jacobian-inertia product; damped least-squares inverses; generalized dynamic manipulability measure
Issue Date
2000-10
Publisher
Journal of intelligent & robotic systems
Citation
VOL 28, 231-258
URI
https://pubs.kist.re.kr/handle/201004/13325
ISSN
0921-0296
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KIST Publication > Article
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