IEEE - Institute of Electrical and Electronics Engineers, Inc. - Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

2015 54th IEEE Conference on Decision and Control (CDC)

Author(s): Signe Moe ; Andrew R. Teel ; Gianluca Antonelli ; Kristin Y. Pettersen
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2015
Conference Location: Osaka, Japan
Conference Date: 15 December 2015
Page(s): 171 - 178
ISBN (CD): 978-1-4799-7884-7
ISBN (Electronic): 978-1-4799-7886-1
ISBN (USB): 978-1-4799-7885-4
DOI: 10.1109/CDC.2015.7402104
Regular:

Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple... View More

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