Task-space dynamics and motion/force control of fixed-base manipulators under reaction null-space-based redundancy resolution.
Dragomir N. NenchevRyohei OkawaHiroki SonePublished in: Robotica (2016)
Keyphrases
- null space
- force control
- linear discriminant analysis
- robot manipulators
- singular value decomposition
- novelty detection
- motion planning
- control law
- principal components
- dynamical systems
- optical flow
- finite dimensional
- image sequences
- discriminative information
- singular values
- discriminant analysis
- dimensionality reduction
- end effector
- face recognition
- theoretical guarantees
- object detection
- path planning
- dynamic model
- moving objects
- closed loop
- inverse kinematics
- knn
- lower dimensional
- control strategy
- image processing
- feature extraction
- least squares
- contact force
- low dimensional