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.


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    Title :

    Extended-Task-Space Control For Robotic Manipulators


    Contributors:

    Published in:

    Publication date :

    1993-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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