A general framework for managing multiple tasks in highly redundant robotic systems

@article{Siciliano1991AGF,
  title={A general framework for managing multiple tasks in highly redundant robotic systems},
  author={Bruno Siciliano and J. J. Slotine},
  journal={Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments},
  year={1991},
  pages={1211-1216 vol.2}
}
The exploitation of kinematic redundancies in robotic systems may provide more dexterity and versatility in the execution of complex tasks. When functional constraint tasks are imposed in addition to the end-effector tasks, a task priority strategy is advisable. The authors propose a general framework for managing multiple tasks in highly redundant systems. In particular, they derive joint velocity and acceleration solutions which can be used as reference input trajectories to suitable model… CONTINUE READING

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