Dynamic Control of Kinematically Redundant Robotic Manipulators

Dynamic Control of Kinematically Redundant Robotic Manipulators

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Several methods for task space control of kinematically redundant manipulators have been proposed in the literature.Most of these methods are based on chicago bears garden gnome 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 dnd champagne sparkles a relatively small manipulator mounted on a larger positioning part.