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Safety Control for UR-Type Robotic Manipulators via High-Order Control Barrier Functions and Analytical Inverse Kinematics.
Juncheng Lin
Di-Hua Zhai
Yuhan Xiong
Yuanqing Xia
Published in:
IEEE Trans. Ind. Electron. (2024)
Keyphrases
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high order
robotic manipulator
inverse kinematics
higher order
control system
end effector
robot manipulators
degrees of freedom
control method
autonomous robots
decision trees
reinforcement learning
pairwise
closed loop
control scheme
robot control