Research Article
Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization
@ARTICLE{10.4108/airo.v1i.18, author={Bolin Liao and Jianfeng Li and Shuai Li and Zhan Li}, title={Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization}, journal={EAI Endorsed Transactions on AI and Robotics}, volume={1}, number={1}, publisher={EAI}, journal_a={AIRO}, year={2022}, month={2}, keywords={Kinematic control, Redundancy resolution, Constrained Optimization}, doi={10.4108/airo.v1i.18} }- Bolin Liao
Jianfeng Li
Shuai Li
Zhan Li
Year: 2022
Briefly Revisit Kinematic Control of Redundant Manipulators via Constrained Optimization
AIRO
EAI
DOI: 10.4108/airo.v1i.18
Abstract
Redundant manipulators are widely utilized in numerous applications among various areas in industry and service. Redundant manipulators take advantage of their inherent or acquired redundancy to achieve certain benefits in kinematic control. Different from non-redundant manipulators, optimization paradigms are more likely to be established and may be more efficient for kinematic control issues in redundant manipulators. In this paper, we revisit the perspective and methodology on constrained optimization paradigms for kinematic control of redundant manipulators.
Copyright © 2022 Bolin Liao et al., licensed to EAI. This is an open access article distributed under the terms of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/), which permits unlimited use, distribution and reproduction in any medium so long as the original work is properly cited.