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...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2018-07-01
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Series: | Robotics |
Subjects: | |
Online Access: | http://www.mdpi.com/2218-6581/7/3/41 |