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Combined method of weighted least norm and gradient projection for avoiding joint limit | IEEE Conference Publication | IEEE Xplore

Combined method of weighted least norm and gradient projection for avoiding joint limit


Abstract:

This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability...Show More

Abstract:

This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.
Date of Conference: 23-26 November 2011
Date Added to IEEE Xplore: 06 February 2012
ISBN Information:
Conference Location: Incheon, Korea (South)

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