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Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results.

Signe MoeGianluca AntonelliAndrew R. TeelKristin Ytterstad PettersenJohannes Schrimpf
Published in: Frontiers Robotics AI (2016)
Keyphrases
  • stability analysis
  • inverse kinematics
  • multi modal
  • robot arm
  • genetic algorithm
  • input output
  • nonlinear systems