IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity Resolution in Equality and Inequality Constrained Hierarchical Task-Space Control by Adaptive Nonlinear Least Squares

Author(s): Kai Pfeiffer ; Adrien Escande ; Abderrahmane Kheddar
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,630 - 3,637
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2855265
Regular:

We propose a robust method to handle kinematic and algorithmic singularities of any kinematically redundant robot under task-space hierarchical control with ordered equalities and inequalities.... View More

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