Collision-Free Compliance Control for Redundant Manipulators: An Optimization Case
Force control of manipulators could enhance compliance and execution capabilities, and has become a key issue in the field of robotic control. However, it is challenging for redundant manipulators, especially when there exist risks of collisions. In this paper, we propose a collision-free compliance...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2019-07-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00050/full |