Viability and Feasibility of Constrained Kinematic Control of Manipulators

Recent advances in planning and control of robot manipulators make an increasing use of optimization-based techniques, such as model predictive control. In this framework, ensuring the feasibility of the online optimal control problem is a key issue. In the case of manipulators with bounded joint po...

Full description

Bibliographic Details
Main Authors: Marco Faroni, Manuel Beschi, Nicola Pedrocchi, Antonio Visioli
Format: Article
Published: MDPI AG 2018-07-01
Online Access: