Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach

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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