Nearest optimal repeatable control strategies for kinematically redundant manipulators
Kinematically redundant manipulators, by definition, possess an infinite number of generalized inverse control strategies for solving the Jacobian equation. These control strategies are not, in general, repeatable in the sense that closed trajectories for the end-reflector 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 stable surfaces, which define regions of repeatable behavior. However, the LBC is only a necessary condition. A necessary and sufficient condition for the existence ...
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