IEEE - Institute of Electrical and Electronics Engineers, Inc. - A damped least-squares solution to redundancy resolution

Author(s): Egeland, O. ; Sagli, J.R. ; Spangelo, I. ; Chiaverini, S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131710
Regular:

Singularity robust redundancy resolution with task priority can be implemented using the extended Jacobian technique with weighted damped least-squares. The resulting scheme is simple to implement... View More

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