Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization
Keywords:Kinematic control, Redundancy resolution, Constrained Optimization
Redundant manipulators are widely utilized in numerous applications among various areas in industry and service. Redundant manipulators take advantage of their inherent or acquired redundancy to achieve certain benefits in kinematic control. Different from non-redundant manipulators, optimization paradigms are more likely to be established and may be more efficient for kinematic control issues in redundant manipulators. In this paper, we revisit the perspective and methodology on constrained optimization paradigms for kinematic control of redundant manipulators.
How to Cite
Copyright (c) 2022 EAI Endorsed Transactions on AI and Robotics
This work is licensed under a Creative Commons Attribution 3.0 Unported License.
This is an open access article distributed under the terms of the CC BY-NC-SA 4.0, which permits copying, redistributing, remixing, transformation, and building upon the material in any medium so long as the original work is properly cited.