Matrix Formulation of Constraint Wrenches for Serial Manipulators.

Himanshu Chaudhary Subir Kumar Saha

Published in: ICRA (2005)

Keyphrases

totally unimodular
mixed integer
singular values
degrees of freedom
linear constraints
rank constraint
path planning
low rank
control algorithm
control law
quadratic programming
lagrange multipliers
constrained minimization