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- Title:
Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach
- Document type:
- Zeitschriftenaufsatz
- Author(s):
- Wang, Yongchao; Liu, Yang; Leibold, Marion; Buss, Martin; Lee, Jinoh
- Keywords:
- Task analysis; Robots; Mathematical models; Computational modeling; Robustness; Jacobian matrices; Heuristic algorithms; Incremental system; model predictive control (MPC); redundant robots; task prioritized control; time-delay estimation
- Journal title:
- IEEE Transactions on Robotics
- Year:
- 2024
- Journal volume:
- 40
- Pages contribution:
- 2128-2148
- Fulltext / DOI:
- doi:10.1109/TRO.2024.3370049
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