Redundant robotic chains on Riemannian submersions


The paper introduces the notion of Riemannian submersion for the modeling and control of certain types of redundant robotic chains. In the robotics literature, the redundant case is normally treated only in numerical terms, as the need to resort to pseudoinversion techniques is usually considered a barrier to the use of analytic or geometric methods. Using… (More)
DOI: 10.1109/TRA.2004.824636


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