Extended-task-space concept provides unified approach for control of both redundant and nonredundant manipulators: theoretical framework for complete description of set of mechanism commands in terms of task-space commands, and singularity-avoidance scheme providing robustness at and near singular points of workspace while not degrading performance in nonsingular regions.
Extended-Task-Space Control For Robotic Manipulators
NASA Tech Briefs ; 17 , 10
01.10.1993
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Englisch
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