A hybrid algorithm for the kinematic control of redundant robots

@article{Chen2004AHA,
  title={A hybrid algorithm for the kinematic control of redundant robots},
  author={Weihai Chen and Mingming Yang and Shouqian Yu and Tianmiao Wang},
  journal={2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)},
  year={2004},
  volume={5},
  pages={4438-4443 vol.5}
}
Based on both Paden-Kahan subproblems and joint rate control approach, This work presents a new control method, termed hybrid algorithm, for the kinematic control of redundant robots. The hybrid algorithm uses joint rate control first to do kinematic control with optimization for performance criteria through utilizing redundancy, then fix some special… CONTINUE READING