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eess.SY2019★ 1 cited
Prioritized Inverse Kinematics: Desired Task Trajectories in Nonsingular Task Spaces
Sang-ik An, Dongheui Lee
A prioritized inverse kinematics (PIK) solution can be considered as a (regulation or output tracking) control law of a dynamical system with prioritized multiple outputs. We propo…
eess.SY2019★ 4 cited
Prioritized Inverse Kinematics: Nonsmoothness, Trajectory Existence, Task Convergence, Stability
Sang-ik An, Dongheui Lee
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or track…