Hierarchical tracking task control in redundant manipulators with compliance control in the null-space

Published 2018 View Full Article

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Title
Hierarchical tracking task control in redundant manipulators with compliance control in the null-space
Authors
Keywords
Redundant manipulators, Prioritized control, Multi-task tracking, Physical interaction, Disturbance observer, Null-space compliance
Journal
MECHATRONICS
Volume 55, Issue -, Pages 171-179
Publisher
Elsevier BV
Online
2018-10-01
DOI
10.1016/j.mechatronics.2018.09.005

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