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 MoreMetadata
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.
Published in: 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 23-26 November 2011
Date Added to IEEE Xplore: 06 February 2012
ISBN Information: