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A new kinematic formulation of the RCM constraint for redundant torque-controlled robots.
Juan Sebastián Sandoval Arévalo
Gérard Poisson
Pierre Vieyres
Published in:
IROS (2017)
Keyphrases
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joint space
physical constraints
degrees of freedom
parallel robot
end effector
mobile robot
humanoid robot
motion control
cooperative
multi robot
control scheme
robot control
vision system
global constraints
quadratic programming
robotic systems
dynamic environments
human robot
manipulation tasks