Dynamic Control of Kinematically Redundant Robotic Manipulators

Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

# Electronic computers. Computer science # Robotics # kinematically redundant manipulators # non-linear control

Erling Lunde, Olav Egeland, Jens G. Balchen (1987). "Dynamic Control of Kinematically Redundant Robotic Manipulators". Modeling, Identification and Control. https://doi.org/10.4173/mic.1987.3.4