Joint Stiction Avoidance with Null-Space Motion in Real-Time Model Predictive Control for Redundant Collaborative Robots.
Julian M. Salt DucajuBjörn OlofssonAnders RobertssonRolf JohanssonPublished in: RO-MAN (2021)
Keyphrases
- null space
- model predictive control
- real time
- control system
- image sequences
- humanoid robot
- predictive control
- camera motion
- linear discriminant analysis
- motion estimation
- mobile robot
- novelty detection
- singular value decomposition
- optical flow
- high dimensional
- feature points
- principal components
- multi robot
- motion planning
- autonomous robots