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cs.RO2022
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +2
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously pr…
cs.RO2021★ 1 cited
Motion Control of Redundant Robots with Generalised Inequality Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +1
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion…