Nearest optimal repeatable control strategies for kinematically redundant manipulators

Abstract
Kinematically redundant manipulators, by definition, possess an infinite number ofgeneralized inverse control strategies for solving the Jacobian equation. These controlstrategies are not, in general, repeatable in the sense that closed trajectories for the endeffector do not result in closed trajectories in the joint space. The Lie Bracket Condition(LBC) can be used to check for the possibility of integral surfaces, also called stablesurfaces, which define regions of repeatable behavior....

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