Task-priority formulations for the kinematic control of highly redundant articulated structures

We compare two formulations for the kinematic control of redundant manipulators, based on task prioritization. We also propose an incremental method to speed up the evaluation of the solution. This is especially interesting when dealing with multiple task-priority levels and with highly redundant structures. Finally, the effectiveness of the approach in the context of posture control of human-like articulated figures is illustrated


Published in:
Proc. Intelligent Robots and Systems. Innovations in Theory, IEEE IROS'98, 323-329
Presented at:
International Conference on Intelligent Robots and Systems, Victoria, BC, Canada, 12-14 Décembre, 1998
Year:
1998
Keywords:
Laboratories:




 Record created 2007-01-16, last modified 2018-03-18


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