Discrete-time velocity control of redundant robots with acceleration/torque optimization properties.
Fabrizio FlaccoAlessandro De LucaPublished in: ICRA (2014)
Keyphrases
- control strategy
- dead zone
- induction motor
- control system
- optimization algorithm
- robot control
- robotic systems
- receding horizon
- mobile robot
- industrial robots
- human robot interaction
- motion control
- autonomous systems
- control theory
- optimization problems
- global optimization
- autonomous robots
- image sequences
- external forces
- closed loop
- visual servoing
- degrees of freedom
- optimization method
- markov chain
- joint space
- robot behavior
- kinematic model
- swarm robotics
- velocity field
- genetic algorithm
- cooperative
- control scheme