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Closed-loop inverse kinematics under inequality constraints: Application to concentric-tube manipulators.
Hamidreza Azimian
Thomas Looi
James M. Drake
Published in:
IROS (2014)
Keyphrases
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closed loop
control law
inverse kinematics
control system
inequality constraints
control scheme
robot arm
pid controller
adaptive control
motion planning
neural network
path planning
control algorithm
constrained optimization