IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Multi-Level Simultaneous Minimization Scheme Applied to Jerk-Bounded Redundant Robot Manipulators

Author(s): Dechao Chen ; Shuai Li ; Weibing Li ; Qing Wu
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2020
Volume: 17
Page(s): 463 - 474
ISSN (Electronic): 1558-3783
ISSN (Paper): 1545-5955
DOI: 10.1109/TASE.2019.2931810
Regular:

In this paper, a multi-level simultaneous minimization (MLSM) scheme is proposed and investigated to remedy the joint-angle drift (JAD) and non-zero final joint-velocity (NZFJV) phenomena as well... View More

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