IEEE - Institute of Electrical and Electronics Engineers, Inc. - Null Torque based Dynamic Control (NTDC) for Kinematically Redundant Manipulators

1992 American Control Conference

Author(s): W. J. Chung ; W. K. Chung ; Y. Youm
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 1992
Conference Location: Chicago, IL, USA, USA
Conference Date: 24 June 1992
Page(s): 1,212 - 1,216
ISBN (Paper): 0-7803-0210-9
DOI: 10.23919/ACC.1992.4792288
Regular:

This paper presents a new control method for redundant manipulators, named the "Null Torque based Dynamic Control," which can guarantee stability for joint torques. The proposed method resolves... View More

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