English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this paper, a new feedback-added pseudoinverse-type balanced minimization (FPBM) scheme is proposed and studied for the kinematic control of redundant robot manipulators. Such a scheme is designed by combining the minimum acceleration norm (MAN) solution and the weighted minimum velocity norm (WMVN) solution and by introducing the feedback. With the MAN and WMVN combination, the proposed FPBM scheme can not only remedy the phenomena of high velocity and acceleration but also generate a near-zero velocity after task execution. With the feedback introduction, the proposed FPBM scheme can guarantee a nondivergent end-effector tracking error. Based on a four-link robot manipulator, the simulation results are presented to show the effectiveness of the proposed FPBM scheme.

Feedback-Added Pseudoinverse-Type Balanced Minimization Scheme for Kinematic Control of Redundant Robot Manipulators